Upload folder using huggingface_hub (part 5)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_index_2_geom_include.xml +15 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_little_1_asset_include.xml +43 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_little_1_geom_include.xml +43 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_little_2_asset_include.xml +31 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_little_2_geom_include.xml +31 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_middle_1_asset_include.xml +44 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_middle_1_geom_include.xml +44 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_middle_2_asset_include.xml +20 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_middle_2_geom_include.xml +20 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_ring_1_asset_include.xml +44 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_ring_1_geom_include.xml +44 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_ring_2_asset_include.xml +17 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_ring_2_geom_include.xml +17 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_1_asset_include.xml +38 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_1_geom_include.xml +38 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_2_asset_include.xml +80 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_2_geom_include.xml +80 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_3_asset_include.xml +140 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_3_geom_include.xml +140 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_4_asset_include.xml +29 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_4_geom_include.xml +29 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_decomposition.ipynb +104 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/inspire_right_hand.urdf +894 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/inspire_right_hand.xml +188 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/sensor_include/palm_site_include.xml +114 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/sensor_include/palm_touch_include.xml +114 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_with_arm.xml +272 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/leaphand_sensor_env/auto_gen_xml.py +52 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/leaphand_sensor_env/index_sensor_array.xml +66 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/leaphand_sensor_env/leaphand_sensor.xml +196 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/leaphand_sensor_env/mid_sensor_array.xml +66 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/leaphand_sensor_env/ring_sensor_array.xml +66 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/leaphand_sensor_env/sensor_include.xml +130 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/leaphand_sensor_env/thumb_sensor_array.xml +66 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/dummy_robot.xml +38 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/exhibition.xml +122 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/exhibition_conference.xml +486 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/grasp_apple.xml +60 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/lab3_env.xml +29 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/leaphand_sensor_env.xml +63 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/manipulator/agilex_piper/piper.png +3 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/manipulator/agilex_piper/piper.xml +74 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/manipulator/agilex_piper/piper_control.xml +9 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/manipulator/agilex_piper/piper_dependencies.xml +77 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/manipulator/agilex_piper/piper_sensor.xml +9 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/manipulator/airbot_play/airbot_play.png +3 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/manipulator/airbot_play/airbot_play.xml +70 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/manipulator/airbot_play/airbot_play_appendix.xml +18 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/manipulator/airbot_play/airbot_play_control.xml +9 -0
- assets/discoverse/raw/collections/models/discoverse_models/mjcf/manipulator/airbot_play/airbot_play_dependencies.xml +69 -0
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_index_2_geom_include.xml
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<mujocoinclude>
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_0" friction="5.0 0.5 0.1"/>
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_1" friction="5.0 0.5 0.1"/>
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_2" friction="5.0 0.5 0.1"/>
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_3" friction="5.0 0.5 0.1"/>
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_4" friction="5.0 0.5 0.1"/>
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_5" friction="5.0 0.5 0.1"/>
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_6" friction="5.0 0.5 0.1"/>
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_7" friction="5.0 0.5 0.1"/>
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_8" friction="5.0 0.5 0.1"/>
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_9" friction="5.0 0.5 0.1"/>
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_10" friction="5.0 0.5 0.1"/>
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_index_2_part_11" friction="5.0 0.5 0.1"/>
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</mujocoinclude>
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assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_little_1_asset_include.xml
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<mujocoinclude>
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<mesh name="right_little_1_part_0" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_0.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_1" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_1.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_2" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_2.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_3" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_3.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_4" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_4.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_5" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_5.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_6" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_6.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_7" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_7.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_8" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_8.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_9" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_9.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_10" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_10.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_11" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_11.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_12" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_12.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_13" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_13.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_14" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_14.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_15" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_15.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_16" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_16.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_17" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_17.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_18" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_18.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_19" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_19.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_20" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_20.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_21" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_21.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_22" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_22.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_23" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_23.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_24" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_24.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_25" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_25.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_26" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_26.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_27" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_27.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_28" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_28.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_29" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_29.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_30" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_30.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_31" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_31.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_32" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_32.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_33" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_33.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_34" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_34.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_35" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_35.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_36" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_36.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_37" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_37.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_38" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_38.obj" scale="1 1 1"/>
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<mesh name="right_little_1_part_39" file="../../../../meshes/inspire_hand/right_little_1_convex_dec/part_39.obj" scale="1 1 1"/>
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</mujocoinclude>
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assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_little_1_geom_include.xml
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<mujocoinclude>
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_0"/>
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_1"/>
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_2"/>
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_3"/>
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_4"/>
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_5"/>
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_6"/>
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_7"/>
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_8"/>
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_9"/>
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_10"/>
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| 14 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_11"/>
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_12"/>
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_13"/>
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_14"/>
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_15"/>
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_16"/>
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_17"/>
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| 21 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_18"/>
|
| 22 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_19"/>
|
| 23 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_20"/>
|
| 24 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_21"/>
|
| 25 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_22"/>
|
| 26 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_23"/>
|
| 27 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_24"/>
|
| 28 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_25"/>
|
| 29 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_26"/>
|
| 30 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_27"/>
|
| 31 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_28"/>
|
| 32 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_29"/>
|
| 33 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_30"/>
|
| 34 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_31"/>
|
| 35 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_32"/>
|
| 36 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_33"/>
|
| 37 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_34"/>
|
| 38 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_35"/>
|
| 39 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_36"/>
|
| 40 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_37"/>
|
| 41 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_38"/>
|
| 42 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_1_part_39"/>
|
| 43 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_little_2_asset_include.xml
ADDED
|
@@ -0,0 +1,31 @@
|
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|
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|
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|
|
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|
| 1 |
+
|
| 2 |
+
<mujocoinclude>
|
| 3 |
+
<mesh name="right_little_2_part_0" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_0.obj" scale="1 1 1"/>
|
| 4 |
+
<mesh name="right_little_2_part_1" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_1.obj" scale="1 1 1"/>
|
| 5 |
+
<mesh name="right_little_2_part_2" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_2.obj" scale="1 1 1"/>
|
| 6 |
+
<mesh name="right_little_2_part_3" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_3.obj" scale="1 1 1"/>
|
| 7 |
+
<mesh name="right_little_2_part_4" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_4.obj" scale="1 1 1"/>
|
| 8 |
+
<mesh name="right_little_2_part_5" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_5.obj" scale="1 1 1"/>
|
| 9 |
+
<mesh name="right_little_2_part_6" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_6.obj" scale="1 1 1"/>
|
| 10 |
+
<mesh name="right_little_2_part_7" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_7.obj" scale="1 1 1"/>
|
| 11 |
+
<mesh name="right_little_2_part_8" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_8.obj" scale="1 1 1"/>
|
| 12 |
+
<mesh name="right_little_2_part_9" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_9.obj" scale="1 1 1"/>
|
| 13 |
+
<mesh name="right_little_2_part_10" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_10.obj" scale="1 1 1"/>
|
| 14 |
+
<mesh name="right_little_2_part_11" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_11.obj" scale="1 1 1"/>
|
| 15 |
+
<mesh name="right_little_2_part_12" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_12.obj" scale="1 1 1"/>
|
| 16 |
+
<mesh name="right_little_2_part_13" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_13.obj" scale="1 1 1"/>
|
| 17 |
+
<mesh name="right_little_2_part_14" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_14.obj" scale="1 1 1"/>
|
| 18 |
+
<mesh name="right_little_2_part_15" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_15.obj" scale="1 1 1"/>
|
| 19 |
+
<mesh name="right_little_2_part_16" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_16.obj" scale="1 1 1"/>
|
| 20 |
+
<mesh name="right_little_2_part_17" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_17.obj" scale="1 1 1"/>
|
| 21 |
+
<mesh name="right_little_2_part_18" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_18.obj" scale="1 1 1"/>
|
| 22 |
+
<mesh name="right_little_2_part_19" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_19.obj" scale="1 1 1"/>
|
| 23 |
+
<mesh name="right_little_2_part_20" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_20.obj" scale="1 1 1"/>
|
| 24 |
+
<mesh name="right_little_2_part_21" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_21.obj" scale="1 1 1"/>
|
| 25 |
+
<mesh name="right_little_2_part_22" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_22.obj" scale="1 1 1"/>
|
| 26 |
+
<mesh name="right_little_2_part_23" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_23.obj" scale="1 1 1"/>
|
| 27 |
+
<mesh name="right_little_2_part_24" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_24.obj" scale="1 1 1"/>
|
| 28 |
+
<mesh name="right_little_2_part_25" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_25.obj" scale="1 1 1"/>
|
| 29 |
+
<mesh name="right_little_2_part_26" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_26.obj" scale="1 1 1"/>
|
| 30 |
+
<mesh name="right_little_2_part_27" file="../../../../meshes/inspire_hand/right_little_2_convex_dec/part_27.obj" scale="1 1 1"/>
|
| 31 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_little_2_geom_include.xml
ADDED
|
@@ -0,0 +1,31 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
|
| 2 |
+
<mujocoinclude>
|
| 3 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_0"/>
|
| 4 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_1"/>
|
| 5 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_2"/>
|
| 6 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_3"/>
|
| 7 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_4"/>
|
| 8 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_5"/>
|
| 9 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_6"/>
|
| 10 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_7"/>
|
| 11 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_8"/>
|
| 12 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_9"/>
|
| 13 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_10"/>
|
| 14 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_11"/>
|
| 15 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_12"/>
|
| 16 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_13"/>
|
| 17 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_14"/>
|
| 18 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_15"/>
|
| 19 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_16"/>
|
| 20 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_17"/>
|
| 21 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_18"/>
|
| 22 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_19"/>
|
| 23 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_20"/>
|
| 24 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_21"/>
|
| 25 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_22"/>
|
| 26 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_23"/>
|
| 27 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_24"/>
|
| 28 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_25"/>
|
| 29 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_26"/>
|
| 30 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_little_2_part_27"/>
|
| 31 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_middle_1_asset_include.xml
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
|
| 2 |
+
<mujocoinclude>
|
| 3 |
+
<mesh name="right_middle_1_part_0" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_0.obj" scale="1 1 1"/>
|
| 4 |
+
<mesh name="right_middle_1_part_1" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_1.obj" scale="1 1 1"/>
|
| 5 |
+
<mesh name="right_middle_1_part_2" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_2.obj" scale="1 1 1"/>
|
| 6 |
+
<mesh name="right_middle_1_part_3" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_3.obj" scale="1 1 1"/>
|
| 7 |
+
<mesh name="right_middle_1_part_4" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_4.obj" scale="1 1 1"/>
|
| 8 |
+
<mesh name="right_middle_1_part_5" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_5.obj" scale="1 1 1"/>
|
| 9 |
+
<mesh name="right_middle_1_part_6" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_6.obj" scale="1 1 1"/>
|
| 10 |
+
<mesh name="right_middle_1_part_7" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_7.obj" scale="1 1 1"/>
|
| 11 |
+
<mesh name="right_middle_1_part_8" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_8.obj" scale="1 1 1"/>
|
| 12 |
+
<mesh name="right_middle_1_part_9" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_9.obj" scale="1 1 1"/>
|
| 13 |
+
<mesh name="right_middle_1_part_10" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_10.obj" scale="1 1 1"/>
|
| 14 |
+
<mesh name="right_middle_1_part_11" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_11.obj" scale="1 1 1"/>
|
| 15 |
+
<mesh name="right_middle_1_part_12" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_12.obj" scale="1 1 1"/>
|
| 16 |
+
<mesh name="right_middle_1_part_13" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_13.obj" scale="1 1 1"/>
|
| 17 |
+
<mesh name="right_middle_1_part_14" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_14.obj" scale="1 1 1"/>
|
| 18 |
+
<mesh name="right_middle_1_part_15" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_15.obj" scale="1 1 1"/>
|
| 19 |
+
<mesh name="right_middle_1_part_16" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_16.obj" scale="1 1 1"/>
|
| 20 |
+
<mesh name="right_middle_1_part_17" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_17.obj" scale="1 1 1"/>
|
| 21 |
+
<mesh name="right_middle_1_part_18" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_18.obj" scale="1 1 1"/>
|
| 22 |
+
<mesh name="right_middle_1_part_19" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_19.obj" scale="1 1 1"/>
|
| 23 |
+
<mesh name="right_middle_1_part_20" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_20.obj" scale="1 1 1"/>
|
| 24 |
+
<mesh name="right_middle_1_part_21" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_21.obj" scale="1 1 1"/>
|
| 25 |
+
<mesh name="right_middle_1_part_22" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_22.obj" scale="1 1 1"/>
|
| 26 |
+
<mesh name="right_middle_1_part_23" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_23.obj" scale="1 1 1"/>
|
| 27 |
+
<mesh name="right_middle_1_part_24" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_24.obj" scale="1 1 1"/>
|
| 28 |
+
<mesh name="right_middle_1_part_25" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_25.obj" scale="1 1 1"/>
|
| 29 |
+
<mesh name="right_middle_1_part_26" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_26.obj" scale="1 1 1"/>
|
| 30 |
+
<mesh name="right_middle_1_part_27" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_27.obj" scale="1 1 1"/>
|
| 31 |
+
<mesh name="right_middle_1_part_28" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_28.obj" scale="1 1 1"/>
|
| 32 |
+
<mesh name="right_middle_1_part_29" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_29.obj" scale="1 1 1"/>
|
| 33 |
+
<mesh name="right_middle_1_part_30" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_30.obj" scale="1 1 1"/>
|
| 34 |
+
<mesh name="right_middle_1_part_31" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_31.obj" scale="1 1 1"/>
|
| 35 |
+
<mesh name="right_middle_1_part_32" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_32.obj" scale="1 1 1"/>
|
| 36 |
+
<mesh name="right_middle_1_part_33" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_33.obj" scale="1 1 1"/>
|
| 37 |
+
<mesh name="right_middle_1_part_34" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_34.obj" scale="1 1 1"/>
|
| 38 |
+
<mesh name="right_middle_1_part_35" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_35.obj" scale="1 1 1"/>
|
| 39 |
+
<mesh name="right_middle_1_part_36" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_36.obj" scale="1 1 1"/>
|
| 40 |
+
<mesh name="right_middle_1_part_37" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_37.obj" scale="1 1 1"/>
|
| 41 |
+
<mesh name="right_middle_1_part_38" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_38.obj" scale="1 1 1"/>
|
| 42 |
+
<mesh name="right_middle_1_part_39" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_39.obj" scale="1 1 1"/>
|
| 43 |
+
<mesh name="right_middle_1_part_40" file="../../../../meshes/inspire_hand/right_middle_1_convex_dec/part_40.obj" scale="1 1 1"/>
|
| 44 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_middle_1_geom_include.xml
ADDED
|
@@ -0,0 +1,44 @@
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
| 1 |
+
|
| 2 |
+
<mujocoinclude>
|
| 3 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_0"/>
|
| 4 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_1"/>
|
| 5 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_2"/>
|
| 6 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_3"/>
|
| 7 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_4"/>
|
| 8 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_5"/>
|
| 9 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_6"/>
|
| 10 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_7"/>
|
| 11 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_8"/>
|
| 12 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_9"/>
|
| 13 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_10"/>
|
| 14 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_11"/>
|
| 15 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_12"/>
|
| 16 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_13"/>
|
| 17 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_14"/>
|
| 18 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_15"/>
|
| 19 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_16"/>
|
| 20 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_17"/>
|
| 21 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_18"/>
|
| 22 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_19"/>
|
| 23 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_20"/>
|
| 24 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_21"/>
|
| 25 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_22"/>
|
| 26 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_23"/>
|
| 27 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_24"/>
|
| 28 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_25"/>
|
| 29 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_26"/>
|
| 30 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_27"/>
|
| 31 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_28"/>
|
| 32 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_29"/>
|
| 33 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_30"/>
|
| 34 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_31"/>
|
| 35 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_32"/>
|
| 36 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_33"/>
|
| 37 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_34"/>
|
| 38 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_35"/>
|
| 39 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_36"/>
|
| 40 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_37"/>
|
| 41 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_38"/>
|
| 42 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_39"/>
|
| 43 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_1_part_40"/>
|
| 44 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_middle_2_asset_include.xml
ADDED
|
@@ -0,0 +1,20 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
|
| 2 |
+
<mujocoinclude>
|
| 3 |
+
<mesh name="right_middle_2_part_0" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_0.obj" scale="1 1 1"/>
|
| 4 |
+
<mesh name="right_middle_2_part_1" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_1.obj" scale="1 1 1"/>
|
| 5 |
+
<mesh name="right_middle_2_part_2" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_2.obj" scale="1 1 1"/>
|
| 6 |
+
<mesh name="right_middle_2_part_3" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_3.obj" scale="1 1 1"/>
|
| 7 |
+
<mesh name="right_middle_2_part_4" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_4.obj" scale="1 1 1"/>
|
| 8 |
+
<mesh name="right_middle_2_part_5" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_5.obj" scale="1 1 1"/>
|
| 9 |
+
<mesh name="right_middle_2_part_6" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_6.obj" scale="1 1 1"/>
|
| 10 |
+
<mesh name="right_middle_2_part_7" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_7.obj" scale="1 1 1"/>
|
| 11 |
+
<mesh name="right_middle_2_part_8" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_8.obj" scale="1 1 1"/>
|
| 12 |
+
<mesh name="right_middle_2_part_9" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_9.obj" scale="1 1 1"/>
|
| 13 |
+
<mesh name="right_middle_2_part_10" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_10.obj" scale="1 1 1"/>
|
| 14 |
+
<mesh name="right_middle_2_part_11" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_11.obj" scale="1 1 1"/>
|
| 15 |
+
<mesh name="right_middle_2_part_12" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_12.obj" scale="1 1 1"/>
|
| 16 |
+
<mesh name="right_middle_2_part_13" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_13.obj" scale="1 1 1"/>
|
| 17 |
+
<mesh name="right_middle_2_part_14" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_14.obj" scale="1 1 1"/>
|
| 18 |
+
<mesh name="right_middle_2_part_15" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_15.obj" scale="1 1 1"/>
|
| 19 |
+
<mesh name="right_middle_2_part_16" file="../../../../meshes/inspire_hand/right_middle_2_convex_dec/part_16.obj" scale="1 1 1"/>
|
| 20 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_middle_2_geom_include.xml
ADDED
|
@@ -0,0 +1,20 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
|
| 2 |
+
<mujocoinclude>
|
| 3 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_0"/>
|
| 4 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_1"/>
|
| 5 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_2"/>
|
| 6 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_3"/>
|
| 7 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_4"/>
|
| 8 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_5"/>
|
| 9 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_6"/>
|
| 10 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_7"/>
|
| 11 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_8"/>
|
| 12 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_9"/>
|
| 13 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_10"/>
|
| 14 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_11"/>
|
| 15 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_12"/>
|
| 16 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_13"/>
|
| 17 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_14"/>
|
| 18 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_15"/>
|
| 19 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_middle_2_part_16"/>
|
| 20 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_ring_1_asset_include.xml
ADDED
|
@@ -0,0 +1,44 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
|
| 2 |
+
<mujocoinclude>
|
| 3 |
+
<mesh name="right_ring_1_part_0" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_0.obj" scale="1 1 1"/>
|
| 4 |
+
<mesh name="right_ring_1_part_1" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_1.obj" scale="1 1 1"/>
|
| 5 |
+
<mesh name="right_ring_1_part_2" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_2.obj" scale="1 1 1"/>
|
| 6 |
+
<mesh name="right_ring_1_part_3" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_3.obj" scale="1 1 1"/>
|
| 7 |
+
<mesh name="right_ring_1_part_4" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_4.obj" scale="1 1 1"/>
|
| 8 |
+
<mesh name="right_ring_1_part_5" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_5.obj" scale="1 1 1"/>
|
| 9 |
+
<mesh name="right_ring_1_part_6" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_6.obj" scale="1 1 1"/>
|
| 10 |
+
<mesh name="right_ring_1_part_7" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_7.obj" scale="1 1 1"/>
|
| 11 |
+
<mesh name="right_ring_1_part_8" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_8.obj" scale="1 1 1"/>
|
| 12 |
+
<mesh name="right_ring_1_part_9" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_9.obj" scale="1 1 1"/>
|
| 13 |
+
<mesh name="right_ring_1_part_10" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_10.obj" scale="1 1 1"/>
|
| 14 |
+
<mesh name="right_ring_1_part_11" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_11.obj" scale="1 1 1"/>
|
| 15 |
+
<mesh name="right_ring_1_part_12" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_12.obj" scale="1 1 1"/>
|
| 16 |
+
<mesh name="right_ring_1_part_13" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_13.obj" scale="1 1 1"/>
|
| 17 |
+
<mesh name="right_ring_1_part_14" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_14.obj" scale="1 1 1"/>
|
| 18 |
+
<mesh name="right_ring_1_part_15" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_15.obj" scale="1 1 1"/>
|
| 19 |
+
<mesh name="right_ring_1_part_16" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_16.obj" scale="1 1 1"/>
|
| 20 |
+
<mesh name="right_ring_1_part_17" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_17.obj" scale="1 1 1"/>
|
| 21 |
+
<mesh name="right_ring_1_part_18" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_18.obj" scale="1 1 1"/>
|
| 22 |
+
<mesh name="right_ring_1_part_19" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_19.obj" scale="1 1 1"/>
|
| 23 |
+
<mesh name="right_ring_1_part_20" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_20.obj" scale="1 1 1"/>
|
| 24 |
+
<mesh name="right_ring_1_part_21" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_21.obj" scale="1 1 1"/>
|
| 25 |
+
<mesh name="right_ring_1_part_22" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_22.obj" scale="1 1 1"/>
|
| 26 |
+
<mesh name="right_ring_1_part_23" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_23.obj" scale="1 1 1"/>
|
| 27 |
+
<mesh name="right_ring_1_part_24" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_24.obj" scale="1 1 1"/>
|
| 28 |
+
<mesh name="right_ring_1_part_25" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_25.obj" scale="1 1 1"/>
|
| 29 |
+
<mesh name="right_ring_1_part_26" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_26.obj" scale="1 1 1"/>
|
| 30 |
+
<mesh name="right_ring_1_part_27" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_27.obj" scale="1 1 1"/>
|
| 31 |
+
<mesh name="right_ring_1_part_28" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_28.obj" scale="1 1 1"/>
|
| 32 |
+
<mesh name="right_ring_1_part_29" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_29.obj" scale="1 1 1"/>
|
| 33 |
+
<mesh name="right_ring_1_part_30" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_30.obj" scale="1 1 1"/>
|
| 34 |
+
<mesh name="right_ring_1_part_31" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_31.obj" scale="1 1 1"/>
|
| 35 |
+
<mesh name="right_ring_1_part_32" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_32.obj" scale="1 1 1"/>
|
| 36 |
+
<mesh name="right_ring_1_part_33" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_33.obj" scale="1 1 1"/>
|
| 37 |
+
<mesh name="right_ring_1_part_34" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_34.obj" scale="1 1 1"/>
|
| 38 |
+
<mesh name="right_ring_1_part_35" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_35.obj" scale="1 1 1"/>
|
| 39 |
+
<mesh name="right_ring_1_part_36" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_36.obj" scale="1 1 1"/>
|
| 40 |
+
<mesh name="right_ring_1_part_37" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_37.obj" scale="1 1 1"/>
|
| 41 |
+
<mesh name="right_ring_1_part_38" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_38.obj" scale="1 1 1"/>
|
| 42 |
+
<mesh name="right_ring_1_part_39" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_39.obj" scale="1 1 1"/>
|
| 43 |
+
<mesh name="right_ring_1_part_40" file="../../../../meshes/inspire_hand/right_ring_1_convex_dec/part_40.obj" scale="1 1 1"/>
|
| 44 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_ring_1_geom_include.xml
ADDED
|
@@ -0,0 +1,44 @@
|
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|
|
|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
|
| 2 |
+
<mujocoinclude>
|
| 3 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_0"/>
|
| 4 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_1"/>
|
| 5 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_2"/>
|
| 6 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_3"/>
|
| 7 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_4"/>
|
| 8 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_5"/>
|
| 9 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_6"/>
|
| 10 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_7"/>
|
| 11 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_8"/>
|
| 12 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_9"/>
|
| 13 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_10"/>
|
| 14 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_11"/>
|
| 15 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_12"/>
|
| 16 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_13"/>
|
| 17 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_14"/>
|
| 18 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_15"/>
|
| 19 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_16"/>
|
| 20 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_17"/>
|
| 21 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_18"/>
|
| 22 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_19"/>
|
| 23 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_20"/>
|
| 24 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_21"/>
|
| 25 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_22"/>
|
| 26 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_23"/>
|
| 27 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_24"/>
|
| 28 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_25"/>
|
| 29 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_26"/>
|
| 30 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_27"/>
|
| 31 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_28"/>
|
| 32 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_29"/>
|
| 33 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_30"/>
|
| 34 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_31"/>
|
| 35 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_32"/>
|
| 36 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_33"/>
|
| 37 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_34"/>
|
| 38 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_35"/>
|
| 39 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_36"/>
|
| 40 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_37"/>
|
| 41 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_38"/>
|
| 42 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_39"/>
|
| 43 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_1_part_40"/>
|
| 44 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_ring_2_asset_include.xml
ADDED
|
@@ -0,0 +1,17 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
|
| 2 |
+
<mujocoinclude>
|
| 3 |
+
<mesh name="right_ring_2_part_0" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_0.obj" scale="1 1 1"/>
|
| 4 |
+
<mesh name="right_ring_2_part_1" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_1.obj" scale="1 1 1"/>
|
| 5 |
+
<mesh name="right_ring_2_part_2" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_2.obj" scale="1 1 1"/>
|
| 6 |
+
<mesh name="right_ring_2_part_3" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_3.obj" scale="1 1 1"/>
|
| 7 |
+
<mesh name="right_ring_2_part_4" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_4.obj" scale="1 1 1"/>
|
| 8 |
+
<mesh name="right_ring_2_part_5" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_5.obj" scale="1 1 1"/>
|
| 9 |
+
<mesh name="right_ring_2_part_6" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_6.obj" scale="1 1 1"/>
|
| 10 |
+
<mesh name="right_ring_2_part_7" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_7.obj" scale="1 1 1"/>
|
| 11 |
+
<mesh name="right_ring_2_part_8" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_8.obj" scale="1 1 1"/>
|
| 12 |
+
<mesh name="right_ring_2_part_9" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_9.obj" scale="1 1 1"/>
|
| 13 |
+
<mesh name="right_ring_2_part_10" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_10.obj" scale="1 1 1"/>
|
| 14 |
+
<mesh name="right_ring_2_part_11" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_11.obj" scale="1 1 1"/>
|
| 15 |
+
<mesh name="right_ring_2_part_12" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_12.obj" scale="1 1 1"/>
|
| 16 |
+
<mesh name="right_ring_2_part_13" file="../../../../meshes/inspire_hand/right_ring_2_convex_dec/part_13.obj" scale="1 1 1"/>
|
| 17 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_ring_2_geom_include.xml
ADDED
|
@@ -0,0 +1,17 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
|
| 2 |
+
<mujocoinclude>
|
| 3 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_0"/>
|
| 4 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_1"/>
|
| 5 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_2"/>
|
| 6 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_3"/>
|
| 7 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_4"/>
|
| 8 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_5"/>
|
| 9 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_6"/>
|
| 10 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_7"/>
|
| 11 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_8"/>
|
| 12 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_9"/>
|
| 13 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_10"/>
|
| 14 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_11"/>
|
| 15 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_12"/>
|
| 16 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_ring_2_part_13"/>
|
| 17 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_1_asset_include.xml
ADDED
|
@@ -0,0 +1,38 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
|
| 2 |
+
<mujocoinclude>
|
| 3 |
+
<mesh name="right_thumb_1_part_0" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_0.obj" scale="1 1 1"/>
|
| 4 |
+
<mesh name="right_thumb_1_part_1" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_1.obj" scale="1 1 1"/>
|
| 5 |
+
<mesh name="right_thumb_1_part_2" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_2.obj" scale="1 1 1"/>
|
| 6 |
+
<mesh name="right_thumb_1_part_3" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_3.obj" scale="1 1 1"/>
|
| 7 |
+
<mesh name="right_thumb_1_part_4" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_4.obj" scale="1 1 1"/>
|
| 8 |
+
<mesh name="right_thumb_1_part_5" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_5.obj" scale="1 1 1"/>
|
| 9 |
+
<mesh name="right_thumb_1_part_6" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_6.obj" scale="1 1 1"/>
|
| 10 |
+
<mesh name="right_thumb_1_part_7" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_7.obj" scale="1 1 1"/>
|
| 11 |
+
<mesh name="right_thumb_1_part_8" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_8.obj" scale="1 1 1"/>
|
| 12 |
+
<mesh name="right_thumb_1_part_9" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_9.obj" scale="1 1 1"/>
|
| 13 |
+
<mesh name="right_thumb_1_part_10" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_10.obj" scale="1 1 1"/>
|
| 14 |
+
<mesh name="right_thumb_1_part_11" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_11.obj" scale="1 1 1"/>
|
| 15 |
+
<mesh name="right_thumb_1_part_12" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_12.obj" scale="1 1 1"/>
|
| 16 |
+
<mesh name="right_thumb_1_part_13" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_13.obj" scale="1 1 1"/>
|
| 17 |
+
<mesh name="right_thumb_1_part_14" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_14.obj" scale="1 1 1"/>
|
| 18 |
+
<mesh name="right_thumb_1_part_15" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_15.obj" scale="1 1 1"/>
|
| 19 |
+
<mesh name="right_thumb_1_part_16" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_16.obj" scale="1 1 1"/>
|
| 20 |
+
<mesh name="right_thumb_1_part_17" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_17.obj" scale="1 1 1"/>
|
| 21 |
+
<mesh name="right_thumb_1_part_18" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_18.obj" scale="1 1 1"/>
|
| 22 |
+
<mesh name="right_thumb_1_part_19" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_19.obj" scale="1 1 1"/>
|
| 23 |
+
<mesh name="right_thumb_1_part_20" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_20.obj" scale="1 1 1"/>
|
| 24 |
+
<mesh name="right_thumb_1_part_21" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_21.obj" scale="1 1 1"/>
|
| 25 |
+
<mesh name="right_thumb_1_part_22" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_22.obj" scale="1 1 1"/>
|
| 26 |
+
<mesh name="right_thumb_1_part_23" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_23.obj" scale="1 1 1"/>
|
| 27 |
+
<mesh name="right_thumb_1_part_24" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_24.obj" scale="1 1 1"/>
|
| 28 |
+
<mesh name="right_thumb_1_part_25" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_25.obj" scale="1 1 1"/>
|
| 29 |
+
<mesh name="right_thumb_1_part_26" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_26.obj" scale="1 1 1"/>
|
| 30 |
+
<mesh name="right_thumb_1_part_27" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_27.obj" scale="1 1 1"/>
|
| 31 |
+
<mesh name="right_thumb_1_part_28" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_28.obj" scale="1 1 1"/>
|
| 32 |
+
<mesh name="right_thumb_1_part_29" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_29.obj" scale="1 1 1"/>
|
| 33 |
+
<mesh name="right_thumb_1_part_30" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_30.obj" scale="1 1 1"/>
|
| 34 |
+
<mesh name="right_thumb_1_part_31" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_31.obj" scale="1 1 1"/>
|
| 35 |
+
<mesh name="right_thumb_1_part_32" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_32.obj" scale="1 1 1"/>
|
| 36 |
+
<mesh name="right_thumb_1_part_33" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_33.obj" scale="1 1 1"/>
|
| 37 |
+
<mesh name="right_thumb_1_part_34" file="../../../../meshes/inspire_hand/right_thumb_1_convex_dec/part_34.obj" scale="1 1 1"/>
|
| 38 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_1_geom_include.xml
ADDED
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| 1 |
+
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<mujocoinclude>
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| 3 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_0"/>
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| 4 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_1"/>
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| 5 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_2"/>
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| 6 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_3"/>
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| 7 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_4"/>
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| 8 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_5"/>
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| 9 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_6"/>
|
| 10 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_7"/>
|
| 11 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_8"/>
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| 12 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_9"/>
|
| 13 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_10"/>
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| 14 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_11"/>
|
| 15 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_12"/>
|
| 16 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_13"/>
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| 17 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_14"/>
|
| 18 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_15"/>
|
| 19 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_16"/>
|
| 20 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_17"/>
|
| 21 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_18"/>
|
| 22 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_19"/>
|
| 23 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_20"/>
|
| 24 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_21"/>
|
| 25 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_22"/>
|
| 26 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_23"/>
|
| 27 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_24"/>
|
| 28 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_25"/>
|
| 29 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_26"/>
|
| 30 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_27"/>
|
| 31 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_28"/>
|
| 32 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_29"/>
|
| 33 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_30"/>
|
| 34 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_31"/>
|
| 35 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_32"/>
|
| 36 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_33"/>
|
| 37 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_1_part_34"/>
|
| 38 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_2_asset_include.xml
ADDED
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@@ -0,0 +1,80 @@
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| 1 |
+
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| 2 |
+
<mujocoinclude>
|
| 3 |
+
<mesh name="right_thumb_2_part_0" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_0.obj" scale="1 1 1"/>
|
| 4 |
+
<mesh name="right_thumb_2_part_1" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_1.obj" scale="1 1 1"/>
|
| 5 |
+
<mesh name="right_thumb_2_part_2" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_2.obj" scale="1 1 1"/>
|
| 6 |
+
<mesh name="right_thumb_2_part_3" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_3.obj" scale="1 1 1"/>
|
| 7 |
+
<mesh name="right_thumb_2_part_4" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_4.obj" scale="1 1 1"/>
|
| 8 |
+
<mesh name="right_thumb_2_part_5" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_5.obj" scale="1 1 1"/>
|
| 9 |
+
<mesh name="right_thumb_2_part_6" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_6.obj" scale="1 1 1"/>
|
| 10 |
+
<mesh name="right_thumb_2_part_7" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_7.obj" scale="1 1 1"/>
|
| 11 |
+
<mesh name="right_thumb_2_part_8" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_8.obj" scale="1 1 1"/>
|
| 12 |
+
<mesh name="right_thumb_2_part_9" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_9.obj" scale="1 1 1"/>
|
| 13 |
+
<mesh name="right_thumb_2_part_10" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_10.obj" scale="1 1 1"/>
|
| 14 |
+
<mesh name="right_thumb_2_part_11" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_11.obj" scale="1 1 1"/>
|
| 15 |
+
<mesh name="right_thumb_2_part_12" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_12.obj" scale="1 1 1"/>
|
| 16 |
+
<mesh name="right_thumb_2_part_13" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_13.obj" scale="1 1 1"/>
|
| 17 |
+
<mesh name="right_thumb_2_part_14" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_14.obj" scale="1 1 1"/>
|
| 18 |
+
<mesh name="right_thumb_2_part_15" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_15.obj" scale="1 1 1"/>
|
| 19 |
+
<mesh name="right_thumb_2_part_16" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_16.obj" scale="1 1 1"/>
|
| 20 |
+
<mesh name="right_thumb_2_part_17" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_17.obj" scale="1 1 1"/>
|
| 21 |
+
<mesh name="right_thumb_2_part_18" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_18.obj" scale="1 1 1"/>
|
| 22 |
+
<mesh name="right_thumb_2_part_19" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_19.obj" scale="1 1 1"/>
|
| 23 |
+
<mesh name="right_thumb_2_part_20" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_20.obj" scale="1 1 1"/>
|
| 24 |
+
<mesh name="right_thumb_2_part_21" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_21.obj" scale="1 1 1"/>
|
| 25 |
+
<mesh name="right_thumb_2_part_22" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_22.obj" scale="1 1 1"/>
|
| 26 |
+
<mesh name="right_thumb_2_part_23" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_23.obj" scale="1 1 1"/>
|
| 27 |
+
<mesh name="right_thumb_2_part_24" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_24.obj" scale="1 1 1"/>
|
| 28 |
+
<mesh name="right_thumb_2_part_25" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_25.obj" scale="1 1 1"/>
|
| 29 |
+
<mesh name="right_thumb_2_part_26" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_26.obj" scale="1 1 1"/>
|
| 30 |
+
<mesh name="right_thumb_2_part_27" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_27.obj" scale="1 1 1"/>
|
| 31 |
+
<mesh name="right_thumb_2_part_28" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_28.obj" scale="1 1 1"/>
|
| 32 |
+
<mesh name="right_thumb_2_part_29" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_29.obj" scale="1 1 1"/>
|
| 33 |
+
<mesh name="right_thumb_2_part_30" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_30.obj" scale="1 1 1"/>
|
| 34 |
+
<mesh name="right_thumb_2_part_31" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_31.obj" scale="1 1 1"/>
|
| 35 |
+
<mesh name="right_thumb_2_part_32" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_32.obj" scale="1 1 1"/>
|
| 36 |
+
<mesh name="right_thumb_2_part_33" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_33.obj" scale="1 1 1"/>
|
| 37 |
+
<mesh name="right_thumb_2_part_34" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_34.obj" scale="1 1 1"/>
|
| 38 |
+
<mesh name="right_thumb_2_part_35" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_35.obj" scale="1 1 1"/>
|
| 39 |
+
<mesh name="right_thumb_2_part_36" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_36.obj" scale="1 1 1"/>
|
| 40 |
+
<mesh name="right_thumb_2_part_37" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_37.obj" scale="1 1 1"/>
|
| 41 |
+
<mesh name="right_thumb_2_part_38" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_38.obj" scale="1 1 1"/>
|
| 42 |
+
<mesh name="right_thumb_2_part_39" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_39.obj" scale="1 1 1"/>
|
| 43 |
+
<mesh name="right_thumb_2_part_40" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_40.obj" scale="1 1 1"/>
|
| 44 |
+
<mesh name="right_thumb_2_part_41" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_41.obj" scale="1 1 1"/>
|
| 45 |
+
<mesh name="right_thumb_2_part_42" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_42.obj" scale="1 1 1"/>
|
| 46 |
+
<mesh name="right_thumb_2_part_43" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_43.obj" scale="1 1 1"/>
|
| 47 |
+
<mesh name="right_thumb_2_part_44" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_44.obj" scale="1 1 1"/>
|
| 48 |
+
<mesh name="right_thumb_2_part_45" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_45.obj" scale="1 1 1"/>
|
| 49 |
+
<mesh name="right_thumb_2_part_46" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_46.obj" scale="1 1 1"/>
|
| 50 |
+
<mesh name="right_thumb_2_part_47" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_47.obj" scale="1 1 1"/>
|
| 51 |
+
<mesh name="right_thumb_2_part_48" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_48.obj" scale="1 1 1"/>
|
| 52 |
+
<mesh name="right_thumb_2_part_49" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_49.obj" scale="1 1 1"/>
|
| 53 |
+
<mesh name="right_thumb_2_part_50" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_50.obj" scale="1 1 1"/>
|
| 54 |
+
<mesh name="right_thumb_2_part_51" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_51.obj" scale="1 1 1"/>
|
| 55 |
+
<mesh name="right_thumb_2_part_52" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_52.obj" scale="1 1 1"/>
|
| 56 |
+
<mesh name="right_thumb_2_part_53" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_53.obj" scale="1 1 1"/>
|
| 57 |
+
<mesh name="right_thumb_2_part_54" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_54.obj" scale="1 1 1"/>
|
| 58 |
+
<mesh name="right_thumb_2_part_55" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_55.obj" scale="1 1 1"/>
|
| 59 |
+
<mesh name="right_thumb_2_part_56" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_56.obj" scale="1 1 1"/>
|
| 60 |
+
<mesh name="right_thumb_2_part_57" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_57.obj" scale="1 1 1"/>
|
| 61 |
+
<mesh name="right_thumb_2_part_58" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_58.obj" scale="1 1 1"/>
|
| 62 |
+
<mesh name="right_thumb_2_part_59" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_59.obj" scale="1 1 1"/>
|
| 63 |
+
<mesh name="right_thumb_2_part_60" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_60.obj" scale="1 1 1"/>
|
| 64 |
+
<mesh name="right_thumb_2_part_61" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_61.obj" scale="1 1 1"/>
|
| 65 |
+
<mesh name="right_thumb_2_part_62" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_62.obj" scale="1 1 1"/>
|
| 66 |
+
<mesh name="right_thumb_2_part_63" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_63.obj" scale="1 1 1"/>
|
| 67 |
+
<mesh name="right_thumb_2_part_64" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_64.obj" scale="1 1 1"/>
|
| 68 |
+
<mesh name="right_thumb_2_part_65" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_65.obj" scale="1 1 1"/>
|
| 69 |
+
<mesh name="right_thumb_2_part_66" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_66.obj" scale="1 1 1"/>
|
| 70 |
+
<mesh name="right_thumb_2_part_67" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_67.obj" scale="1 1 1"/>
|
| 71 |
+
<mesh name="right_thumb_2_part_68" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_68.obj" scale="1 1 1"/>
|
| 72 |
+
<mesh name="right_thumb_2_part_69" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_69.obj" scale="1 1 1"/>
|
| 73 |
+
<mesh name="right_thumb_2_part_70" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_70.obj" scale="1 1 1"/>
|
| 74 |
+
<mesh name="right_thumb_2_part_71" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_71.obj" scale="1 1 1"/>
|
| 75 |
+
<mesh name="right_thumb_2_part_72" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_72.obj" scale="1 1 1"/>
|
| 76 |
+
<mesh name="right_thumb_2_part_73" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_73.obj" scale="1 1 1"/>
|
| 77 |
+
<mesh name="right_thumb_2_part_74" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_74.obj" scale="1 1 1"/>
|
| 78 |
+
<mesh name="right_thumb_2_part_75" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_75.obj" scale="1 1 1"/>
|
| 79 |
+
<mesh name="right_thumb_2_part_76" file="../../../../meshes/inspire_hand/right_thumb_2_convex_dec/part_76.obj" scale="1 1 1"/>
|
| 80 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_2_geom_include.xml
ADDED
|
@@ -0,0 +1,80 @@
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
| 1 |
+
|
| 2 |
+
<mujocoinclude>
|
| 3 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_0"/>
|
| 4 |
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|
| 5 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_2"/>
|
| 6 |
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|
| 7 |
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|
| 8 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_5"/>
|
| 9 |
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|
| 10 |
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|
| 11 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_8"/>
|
| 12 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_9"/>
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_15"/>
|
| 19 |
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|
| 20 |
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| 21 |
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| 22 |
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|
| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_25"/>
|
| 29 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_26"/>
|
| 30 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_27"/>
|
| 31 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_28"/>
|
| 32 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_29"/>
|
| 33 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_30"/>
|
| 34 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_31"/>
|
| 35 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_32"/>
|
| 36 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_33"/>
|
| 37 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_34"/>
|
| 38 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_35"/>
|
| 39 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_36"/>
|
| 40 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_37"/>
|
| 41 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_38"/>
|
| 42 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_39"/>
|
| 43 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_40"/>
|
| 44 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_41"/>
|
| 45 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_42"/>
|
| 46 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_43"/>
|
| 47 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_44"/>
|
| 48 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_45"/>
|
| 49 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_46"/>
|
| 50 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_47"/>
|
| 51 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_48"/>
|
| 52 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_49"/>
|
| 53 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_50"/>
|
| 54 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_51"/>
|
| 55 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_52"/>
|
| 56 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_53"/>
|
| 57 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_54"/>
|
| 58 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_55"/>
|
| 59 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_56"/>
|
| 60 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_57"/>
|
| 61 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_58"/>
|
| 62 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_59"/>
|
| 63 |
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<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_60"/>
|
| 64 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_61"/>
|
| 65 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_62"/>
|
| 66 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_63"/>
|
| 67 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_64"/>
|
| 68 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_65"/>
|
| 69 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_66"/>
|
| 70 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_67"/>
|
| 71 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_68"/>
|
| 72 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_69"/>
|
| 73 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_70"/>
|
| 74 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_71"/>
|
| 75 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_72"/>
|
| 76 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_73"/>
|
| 77 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_74"/>
|
| 78 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_75"/>
|
| 79 |
+
<geom contype="1" conaffinity="0" type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_2_part_76"/>
|
| 80 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_3_asset_include.xml
ADDED
|
@@ -0,0 +1,140 @@
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
|
| 2 |
+
<mujocoinclude>
|
| 3 |
+
<mesh name="right_thumb_3_part_0" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_0.obj" scale="1 1 1"/>
|
| 4 |
+
<mesh name="right_thumb_3_part_1" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_1.obj" scale="1 1 1"/>
|
| 5 |
+
<mesh name="right_thumb_3_part_2" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_2.obj" scale="1 1 1"/>
|
| 6 |
+
<mesh name="right_thumb_3_part_3" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_3.obj" scale="1 1 1"/>
|
| 7 |
+
<mesh name="right_thumb_3_part_4" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_4.obj" scale="1 1 1"/>
|
| 8 |
+
<mesh name="right_thumb_3_part_5" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_5.obj" scale="1 1 1"/>
|
| 9 |
+
<mesh name="right_thumb_3_part_6" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_6.obj" scale="1 1 1"/>
|
| 10 |
+
<mesh name="right_thumb_3_part_7" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_7.obj" scale="1 1 1"/>
|
| 11 |
+
<mesh name="right_thumb_3_part_8" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_8.obj" scale="1 1 1"/>
|
| 12 |
+
<mesh name="right_thumb_3_part_9" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_9.obj" scale="1 1 1"/>
|
| 13 |
+
<mesh name="right_thumb_3_part_10" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_10.obj" scale="1 1 1"/>
|
| 14 |
+
<mesh name="right_thumb_3_part_11" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_11.obj" scale="1 1 1"/>
|
| 15 |
+
<mesh name="right_thumb_3_part_12" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_12.obj" scale="1 1 1"/>
|
| 16 |
+
<mesh name="right_thumb_3_part_13" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_13.obj" scale="1 1 1"/>
|
| 17 |
+
<mesh name="right_thumb_3_part_14" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_14.obj" scale="1 1 1"/>
|
| 18 |
+
<mesh name="right_thumb_3_part_15" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_15.obj" scale="1 1 1"/>
|
| 19 |
+
<mesh name="right_thumb_3_part_16" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_16.obj" scale="1 1 1"/>
|
| 20 |
+
<mesh name="right_thumb_3_part_17" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_17.obj" scale="1 1 1"/>
|
| 21 |
+
<mesh name="right_thumb_3_part_18" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_18.obj" scale="1 1 1"/>
|
| 22 |
+
<mesh name="right_thumb_3_part_19" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_19.obj" scale="1 1 1"/>
|
| 23 |
+
<mesh name="right_thumb_3_part_20" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_20.obj" scale="1 1 1"/>
|
| 24 |
+
<mesh name="right_thumb_3_part_21" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_21.obj" scale="1 1 1"/>
|
| 25 |
+
<mesh name="right_thumb_3_part_22" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_22.obj" scale="1 1 1"/>
|
| 26 |
+
<mesh name="right_thumb_3_part_23" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_23.obj" scale="1 1 1"/>
|
| 27 |
+
<mesh name="right_thumb_3_part_24" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_24.obj" scale="1 1 1"/>
|
| 28 |
+
<mesh name="right_thumb_3_part_25" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_25.obj" scale="1 1 1"/>
|
| 29 |
+
<mesh name="right_thumb_3_part_26" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_26.obj" scale="1 1 1"/>
|
| 30 |
+
<mesh name="right_thumb_3_part_27" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_27.obj" scale="1 1 1"/>
|
| 31 |
+
<mesh name="right_thumb_3_part_28" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_28.obj" scale="1 1 1"/>
|
| 32 |
+
<mesh name="right_thumb_3_part_29" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_29.obj" scale="1 1 1"/>
|
| 33 |
+
<mesh name="right_thumb_3_part_30" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_30.obj" scale="1 1 1"/>
|
| 34 |
+
<mesh name="right_thumb_3_part_31" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_31.obj" scale="1 1 1"/>
|
| 35 |
+
<mesh name="right_thumb_3_part_32" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_32.obj" scale="1 1 1"/>
|
| 36 |
+
<mesh name="right_thumb_3_part_33" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_33.obj" scale="1 1 1"/>
|
| 37 |
+
<mesh name="right_thumb_3_part_34" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_34.obj" scale="1 1 1"/>
|
| 38 |
+
<mesh name="right_thumb_3_part_35" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_35.obj" scale="1 1 1"/>
|
| 39 |
+
<mesh name="right_thumb_3_part_36" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_36.obj" scale="1 1 1"/>
|
| 40 |
+
<mesh name="right_thumb_3_part_37" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_37.obj" scale="1 1 1"/>
|
| 41 |
+
<mesh name="right_thumb_3_part_38" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_38.obj" scale="1 1 1"/>
|
| 42 |
+
<mesh name="right_thumb_3_part_39" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_39.obj" scale="1 1 1"/>
|
| 43 |
+
<mesh name="right_thumb_3_part_40" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_40.obj" scale="1 1 1"/>
|
| 44 |
+
<mesh name="right_thumb_3_part_41" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_41.obj" scale="1 1 1"/>
|
| 45 |
+
<mesh name="right_thumb_3_part_42" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_42.obj" scale="1 1 1"/>
|
| 46 |
+
<mesh name="right_thumb_3_part_43" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_43.obj" scale="1 1 1"/>
|
| 47 |
+
<mesh name="right_thumb_3_part_44" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_44.obj" scale="1 1 1"/>
|
| 48 |
+
<mesh name="right_thumb_3_part_45" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_45.obj" scale="1 1 1"/>
|
| 49 |
+
<mesh name="right_thumb_3_part_46" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_46.obj" scale="1 1 1"/>
|
| 50 |
+
<mesh name="right_thumb_3_part_47" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_47.obj" scale="1 1 1"/>
|
| 51 |
+
<mesh name="right_thumb_3_part_48" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_48.obj" scale="1 1 1"/>
|
| 52 |
+
<mesh name="right_thumb_3_part_49" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_49.obj" scale="1 1 1"/>
|
| 53 |
+
<mesh name="right_thumb_3_part_50" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_50.obj" scale="1 1 1"/>
|
| 54 |
+
<mesh name="right_thumb_3_part_51" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_51.obj" scale="1 1 1"/>
|
| 55 |
+
<mesh name="right_thumb_3_part_52" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_52.obj" scale="1 1 1"/>
|
| 56 |
+
<mesh name="right_thumb_3_part_53" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_53.obj" scale="1 1 1"/>
|
| 57 |
+
<mesh name="right_thumb_3_part_54" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_54.obj" scale="1 1 1"/>
|
| 58 |
+
<mesh name="right_thumb_3_part_55" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_55.obj" scale="1 1 1"/>
|
| 59 |
+
<mesh name="right_thumb_3_part_56" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_56.obj" scale="1 1 1"/>
|
| 60 |
+
<mesh name="right_thumb_3_part_57" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_57.obj" scale="1 1 1"/>
|
| 61 |
+
<mesh name="right_thumb_3_part_58" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_58.obj" scale="1 1 1"/>
|
| 62 |
+
<mesh name="right_thumb_3_part_59" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_59.obj" scale="1 1 1"/>
|
| 63 |
+
<mesh name="right_thumb_3_part_60" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_60.obj" scale="1 1 1"/>
|
| 64 |
+
<mesh name="right_thumb_3_part_61" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_61.obj" scale="1 1 1"/>
|
| 65 |
+
<mesh name="right_thumb_3_part_62" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_62.obj" scale="1 1 1"/>
|
| 66 |
+
<mesh name="right_thumb_3_part_63" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_63.obj" scale="1 1 1"/>
|
| 67 |
+
<mesh name="right_thumb_3_part_64" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_64.obj" scale="1 1 1"/>
|
| 68 |
+
<mesh name="right_thumb_3_part_65" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_65.obj" scale="1 1 1"/>
|
| 69 |
+
<mesh name="right_thumb_3_part_66" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_66.obj" scale="1 1 1"/>
|
| 70 |
+
<mesh name="right_thumb_3_part_67" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_67.obj" scale="1 1 1"/>
|
| 71 |
+
<mesh name="right_thumb_3_part_68" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_68.obj" scale="1 1 1"/>
|
| 72 |
+
<mesh name="right_thumb_3_part_69" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_69.obj" scale="1 1 1"/>
|
| 73 |
+
<mesh name="right_thumb_3_part_70" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_70.obj" scale="1 1 1"/>
|
| 74 |
+
<mesh name="right_thumb_3_part_71" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_71.obj" scale="1 1 1"/>
|
| 75 |
+
<mesh name="right_thumb_3_part_72" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_72.obj" scale="1 1 1"/>
|
| 76 |
+
<mesh name="right_thumb_3_part_73" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_73.obj" scale="1 1 1"/>
|
| 77 |
+
<mesh name="right_thumb_3_part_74" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_74.obj" scale="1 1 1"/>
|
| 78 |
+
<mesh name="right_thumb_3_part_75" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_75.obj" scale="1 1 1"/>
|
| 79 |
+
<mesh name="right_thumb_3_part_76" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_76.obj" scale="1 1 1"/>
|
| 80 |
+
<mesh name="right_thumb_3_part_77" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_77.obj" scale="1 1 1"/>
|
| 81 |
+
<mesh name="right_thumb_3_part_78" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_78.obj" scale="1 1 1"/>
|
| 82 |
+
<mesh name="right_thumb_3_part_79" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_79.obj" scale="1 1 1"/>
|
| 83 |
+
<mesh name="right_thumb_3_part_80" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_80.obj" scale="1 1 1"/>
|
| 84 |
+
<mesh name="right_thumb_3_part_81" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_81.obj" scale="1 1 1"/>
|
| 85 |
+
<mesh name="right_thumb_3_part_82" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_82.obj" scale="1 1 1"/>
|
| 86 |
+
<mesh name="right_thumb_3_part_83" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_83.obj" scale="1 1 1"/>
|
| 87 |
+
<mesh name="right_thumb_3_part_84" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_84.obj" scale="1 1 1"/>
|
| 88 |
+
<mesh name="right_thumb_3_part_85" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_85.obj" scale="1 1 1"/>
|
| 89 |
+
<mesh name="right_thumb_3_part_86" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_86.obj" scale="1 1 1"/>
|
| 90 |
+
<mesh name="right_thumb_3_part_87" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_87.obj" scale="1 1 1"/>
|
| 91 |
+
<mesh name="right_thumb_3_part_88" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_88.obj" scale="1 1 1"/>
|
| 92 |
+
<mesh name="right_thumb_3_part_89" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_89.obj" scale="1 1 1"/>
|
| 93 |
+
<mesh name="right_thumb_3_part_90" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_90.obj" scale="1 1 1"/>
|
| 94 |
+
<mesh name="right_thumb_3_part_91" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_91.obj" scale="1 1 1"/>
|
| 95 |
+
<mesh name="right_thumb_3_part_92" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_92.obj" scale="1 1 1"/>
|
| 96 |
+
<mesh name="right_thumb_3_part_93" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_93.obj" scale="1 1 1"/>
|
| 97 |
+
<mesh name="right_thumb_3_part_94" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_94.obj" scale="1 1 1"/>
|
| 98 |
+
<mesh name="right_thumb_3_part_95" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_95.obj" scale="1 1 1"/>
|
| 99 |
+
<mesh name="right_thumb_3_part_96" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_96.obj" scale="1 1 1"/>
|
| 100 |
+
<mesh name="right_thumb_3_part_97" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_97.obj" scale="1 1 1"/>
|
| 101 |
+
<mesh name="right_thumb_3_part_98" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_98.obj" scale="1 1 1"/>
|
| 102 |
+
<mesh name="right_thumb_3_part_99" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_99.obj" scale="1 1 1"/>
|
| 103 |
+
<mesh name="right_thumb_3_part_100" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_100.obj" scale="1 1 1"/>
|
| 104 |
+
<mesh name="right_thumb_3_part_101" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_101.obj" scale="1 1 1"/>
|
| 105 |
+
<mesh name="right_thumb_3_part_102" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_102.obj" scale="1 1 1"/>
|
| 106 |
+
<mesh name="right_thumb_3_part_103" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_103.obj" scale="1 1 1"/>
|
| 107 |
+
<mesh name="right_thumb_3_part_104" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_104.obj" scale="1 1 1"/>
|
| 108 |
+
<mesh name="right_thumb_3_part_105" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_105.obj" scale="1 1 1"/>
|
| 109 |
+
<mesh name="right_thumb_3_part_106" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_106.obj" scale="1 1 1"/>
|
| 110 |
+
<mesh name="right_thumb_3_part_107" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_107.obj" scale="1 1 1"/>
|
| 111 |
+
<mesh name="right_thumb_3_part_108" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_108.obj" scale="1 1 1"/>
|
| 112 |
+
<mesh name="right_thumb_3_part_109" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_109.obj" scale="1 1 1"/>
|
| 113 |
+
<mesh name="right_thumb_3_part_110" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_110.obj" scale="1 1 1"/>
|
| 114 |
+
<mesh name="right_thumb_3_part_111" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_111.obj" scale="1 1 1"/>
|
| 115 |
+
<mesh name="right_thumb_3_part_112" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_112.obj" scale="1 1 1"/>
|
| 116 |
+
<mesh name="right_thumb_3_part_113" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_113.obj" scale="1 1 1"/>
|
| 117 |
+
<mesh name="right_thumb_3_part_114" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_114.obj" scale="1 1 1"/>
|
| 118 |
+
<mesh name="right_thumb_3_part_115" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_115.obj" scale="1 1 1"/>
|
| 119 |
+
<mesh name="right_thumb_3_part_116" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_116.obj" scale="1 1 1"/>
|
| 120 |
+
<mesh name="right_thumb_3_part_117" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_117.obj" scale="1 1 1"/>
|
| 121 |
+
<mesh name="right_thumb_3_part_118" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_118.obj" scale="1 1 1"/>
|
| 122 |
+
<mesh name="right_thumb_3_part_119" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_119.obj" scale="1 1 1"/>
|
| 123 |
+
<mesh name="right_thumb_3_part_120" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_120.obj" scale="1 1 1"/>
|
| 124 |
+
<mesh name="right_thumb_3_part_121" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_121.obj" scale="1 1 1"/>
|
| 125 |
+
<mesh name="right_thumb_3_part_122" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_122.obj" scale="1 1 1"/>
|
| 126 |
+
<mesh name="right_thumb_3_part_123" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_123.obj" scale="1 1 1"/>
|
| 127 |
+
<mesh name="right_thumb_3_part_124" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_124.obj" scale="1 1 1"/>
|
| 128 |
+
<mesh name="right_thumb_3_part_125" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_125.obj" scale="1 1 1"/>
|
| 129 |
+
<mesh name="right_thumb_3_part_126" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_126.obj" scale="1 1 1"/>
|
| 130 |
+
<mesh name="right_thumb_3_part_127" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_127.obj" scale="1 1 1"/>
|
| 131 |
+
<mesh name="right_thumb_3_part_128" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_128.obj" scale="1 1 1"/>
|
| 132 |
+
<mesh name="right_thumb_3_part_129" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_129.obj" scale="1 1 1"/>
|
| 133 |
+
<mesh name="right_thumb_3_part_130" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_130.obj" scale="1 1 1"/>
|
| 134 |
+
<mesh name="right_thumb_3_part_131" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_131.obj" scale="1 1 1"/>
|
| 135 |
+
<mesh name="right_thumb_3_part_132" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_132.obj" scale="1 1 1"/>
|
| 136 |
+
<mesh name="right_thumb_3_part_133" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_133.obj" scale="1 1 1"/>
|
| 137 |
+
<mesh name="right_thumb_3_part_134" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_134.obj" scale="1 1 1"/>
|
| 138 |
+
<mesh name="right_thumb_3_part_135" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_135.obj" scale="1 1 1"/>
|
| 139 |
+
<mesh name="right_thumb_3_part_136" file="../../../../meshes/inspire_hand/right_thumb_3_convex_dec/part_136.obj" scale="1 1 1"/>
|
| 140 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_3_geom_include.xml
ADDED
|
@@ -0,0 +1,140 @@
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|
| 1 |
+
|
| 2 |
+
<mujocoinclude>
|
| 3 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_0"/>
|
| 4 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_1"/>
|
| 5 |
+
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_21"/>
|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_25"/>
|
| 29 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_26"/>
|
| 30 |
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|
| 31 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_28"/>
|
| 32 |
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|
| 33 |
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|
| 34 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_31"/>
|
| 35 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_32"/>
|
| 36 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_33"/>
|
| 37 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_34"/>
|
| 38 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_35"/>
|
| 39 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_36"/>
|
| 40 |
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|
| 41 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_38"/>
|
| 42 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_39"/>
|
| 43 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_40"/>
|
| 44 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_41"/>
|
| 45 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_42"/>
|
| 46 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_43"/>
|
| 47 |
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|
| 48 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_45"/>
|
| 49 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_46"/>
|
| 50 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_47"/>
|
| 51 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_48"/>
|
| 52 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_49"/>
|
| 53 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_50"/>
|
| 54 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_51"/>
|
| 55 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_52"/>
|
| 56 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_53"/>
|
| 57 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_54"/>
|
| 58 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_55"/>
|
| 59 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_56"/>
|
| 60 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_57"/>
|
| 61 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_58"/>
|
| 62 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_59"/>
|
| 63 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_60"/>
|
| 64 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_61"/>
|
| 65 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_62"/>
|
| 66 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_63"/>
|
| 67 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_64"/>
|
| 68 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_65"/>
|
| 69 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_66"/>
|
| 70 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_67"/>
|
| 71 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_68"/>
|
| 72 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_69"/>
|
| 73 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_70"/>
|
| 74 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_71"/>
|
| 75 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_72"/>
|
| 76 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_73"/>
|
| 77 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_74"/>
|
| 78 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_75"/>
|
| 79 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_76"/>
|
| 80 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_77"/>
|
| 81 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_78"/>
|
| 82 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_79"/>
|
| 83 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_80"/>
|
| 84 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_81"/>
|
| 85 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_82"/>
|
| 86 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_83"/>
|
| 87 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_84"/>
|
| 88 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_85"/>
|
| 89 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_86"/>
|
| 90 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_87"/>
|
| 91 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_88"/>
|
| 92 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_89"/>
|
| 93 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_90"/>
|
| 94 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_91"/>
|
| 95 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_92"/>
|
| 96 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_93"/>
|
| 97 |
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<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_94"/>
|
| 98 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_95"/>
|
| 99 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_96"/>
|
| 100 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_97"/>
|
| 101 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_98"/>
|
| 102 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_99"/>
|
| 103 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_100"/>
|
| 104 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_101"/>
|
| 105 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_102"/>
|
| 106 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_103"/>
|
| 107 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_104"/>
|
| 108 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_105"/>
|
| 109 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_106"/>
|
| 110 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_107"/>
|
| 111 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_108"/>
|
| 112 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_109"/>
|
| 113 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_110"/>
|
| 114 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_111"/>
|
| 115 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_112"/>
|
| 116 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_113"/>
|
| 117 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_114"/>
|
| 118 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_115"/>
|
| 119 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_116"/>
|
| 120 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_117"/>
|
| 121 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_118"/>
|
| 122 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_119"/>
|
| 123 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_120"/>
|
| 124 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_121"/>
|
| 125 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_122"/>
|
| 126 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_123"/>
|
| 127 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_124"/>
|
| 128 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_125"/>
|
| 129 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_126"/>
|
| 130 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_127"/>
|
| 131 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_128"/>
|
| 132 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_129"/>
|
| 133 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_130"/>
|
| 134 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_131"/>
|
| 135 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_132"/>
|
| 136 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_133"/>
|
| 137 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_134"/>
|
| 138 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_135"/>
|
| 139 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_3_part_136"/>
|
| 140 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_4_asset_include.xml
ADDED
|
@@ -0,0 +1,29 @@
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|
| 1 |
+
|
| 2 |
+
<mujocoinclude>
|
| 3 |
+
<mesh name="right_thumb_4_part_0" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_0.obj" scale="1 1 1"/>
|
| 4 |
+
<mesh name="right_thumb_4_part_1" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_1.obj" scale="1 1 1"/>
|
| 5 |
+
<mesh name="right_thumb_4_part_2" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_2.obj" scale="1 1 1"/>
|
| 6 |
+
<mesh name="right_thumb_4_part_3" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_3.obj" scale="1 1 1"/>
|
| 7 |
+
<mesh name="right_thumb_4_part_4" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_4.obj" scale="1 1 1"/>
|
| 8 |
+
<mesh name="right_thumb_4_part_5" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_5.obj" scale="1 1 1"/>
|
| 9 |
+
<mesh name="right_thumb_4_part_6" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_6.obj" scale="1 1 1"/>
|
| 10 |
+
<mesh name="right_thumb_4_part_7" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_7.obj" scale="1 1 1"/>
|
| 11 |
+
<mesh name="right_thumb_4_part_8" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_8.obj" scale="1 1 1"/>
|
| 12 |
+
<mesh name="right_thumb_4_part_9" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_9.obj" scale="1 1 1"/>
|
| 13 |
+
<mesh name="right_thumb_4_part_10" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_10.obj" scale="1 1 1"/>
|
| 14 |
+
<mesh name="right_thumb_4_part_11" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_11.obj" scale="1 1 1"/>
|
| 15 |
+
<mesh name="right_thumb_4_part_12" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_12.obj" scale="1 1 1"/>
|
| 16 |
+
<mesh name="right_thumb_4_part_13" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_13.obj" scale="1 1 1"/>
|
| 17 |
+
<mesh name="right_thumb_4_part_14" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_14.obj" scale="1 1 1"/>
|
| 18 |
+
<mesh name="right_thumb_4_part_15" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_15.obj" scale="1 1 1"/>
|
| 19 |
+
<mesh name="right_thumb_4_part_16" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_16.obj" scale="1 1 1"/>
|
| 20 |
+
<mesh name="right_thumb_4_part_17" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_17.obj" scale="1 1 1"/>
|
| 21 |
+
<mesh name="right_thumb_4_part_18" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_18.obj" scale="1 1 1"/>
|
| 22 |
+
<mesh name="right_thumb_4_part_19" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_19.obj" scale="1 1 1"/>
|
| 23 |
+
<mesh name="right_thumb_4_part_20" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_20.obj" scale="1 1 1"/>
|
| 24 |
+
<mesh name="right_thumb_4_part_21" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_21.obj" scale="1 1 1"/>
|
| 25 |
+
<mesh name="right_thumb_4_part_22" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_22.obj" scale="1 1 1"/>
|
| 26 |
+
<mesh name="right_thumb_4_part_23" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_23.obj" scale="1 1 1"/>
|
| 27 |
+
<mesh name="right_thumb_4_part_24" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_24.obj" scale="1 1 1"/>
|
| 28 |
+
<mesh name="right_thumb_4_part_25" file="../../../../meshes/inspire_hand/right_thumb_4_convex_dec/part_25.obj" scale="1 1 1"/>
|
| 29 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_dec_include/right_thumb_4_geom_include.xml
ADDED
|
@@ -0,0 +1,29 @@
|
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|
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|
|
|
| 1 |
+
|
| 2 |
+
<mujocoinclude>
|
| 3 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_0" friction="5.0 0.5 0.1"/>
|
| 4 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_1" friction="5.0 0.5 0.1"/>
|
| 5 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_2" friction="5.0 0.5 0.1"/>
|
| 6 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_3" friction="5.0 0.5 0.1"/>
|
| 7 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_4" friction="5.0 0.5 0.1"/>
|
| 8 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_5" friction="5.0 0.5 0.1"/>
|
| 9 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_6" friction="5.0 0.5 0.1"/>
|
| 10 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_7" friction="5.0 0.5 0.1"/>
|
| 11 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_8" friction="5.0 0.5 0.1"/>
|
| 12 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_9" friction="5.0 0.5 0.1"/>
|
| 13 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_10" friction="5.0 0.5 0.1"/>
|
| 14 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_11" friction="5.0 0.5 0.1"/>
|
| 15 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_12" friction="5.0 0.5 0.1"/>
|
| 16 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_13" friction="5.0 0.5 0.1"/>
|
| 17 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_14" friction="5.0 0.5 0.1"/>
|
| 18 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_15" friction="5.0 0.5 0.1"/>
|
| 19 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_16" friction="5.0 0.5 0.1"/>
|
| 20 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_17" friction="5.0 0.5 0.1"/>
|
| 21 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_18" friction="5.0 0.5 0.1"/>
|
| 22 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_19" friction="5.0 0.5 0.1"/>
|
| 23 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_20" friction="5.0 0.5 0.1"/>
|
| 24 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_21" friction="5.0 0.5 0.1"/>
|
| 25 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_22" friction="5.0 0.5 0.1"/>
|
| 26 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_23" friction="5.0 0.5 0.1"/>
|
| 27 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_24" friction="5.0 0.5 0.1"/>
|
| 28 |
+
<geom type="mesh" rgba="0.203922 0.203922 0.203922 1" mesh="right_thumb_4_part_25" friction="5.0 0.5 0.1"/>
|
| 29 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/convex_decomposition.ipynb
ADDED
|
@@ -0,0 +1,104 @@
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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 |
+
{
|
| 2 |
+
"cells": [
|
| 3 |
+
{
|
| 4 |
+
"cell_type": "code",
|
| 5 |
+
"execution_count": null,
|
| 6 |
+
"metadata": {},
|
| 7 |
+
"outputs": [],
|
| 8 |
+
"source": [
|
| 9 |
+
"import os\n",
|
| 10 |
+
"import numpy as np\n",
|
| 11 |
+
"import coacd\n",
|
| 12 |
+
"import trimesh\n",
|
| 13 |
+
"\n",
|
| 14 |
+
"input_file = r\"/home/ltx/THU-AIR/AIR_winter/hand_asset/inspire_right_hand_model/meshes/right_little_2.STL\"\n",
|
| 15 |
+
"\n",
|
| 16 |
+
"\n",
|
| 17 |
+
"mesh = trimesh.load(input_file, force=\"mesh\")\n",
|
| 18 |
+
"mesh = coacd.Mesh(mesh.vertices, mesh.faces)\n",
|
| 19 |
+
"parts = coacd.run_coacd(mesh) # a list of convex hulls."
|
| 20 |
+
]
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"cell_type": "code",
|
| 24 |
+
"execution_count": null,
|
| 25 |
+
"metadata": {},
|
| 26 |
+
"outputs": [],
|
| 27 |
+
"source": [
|
| 28 |
+
"import shutil\n",
|
| 29 |
+
"output_dir = input_file.replace(\".STL\", \"_convex_dec\")\n",
|
| 30 |
+
"if os.path.exists(output_dir):\n",
|
| 31 |
+
" shutil.rmtree(output_dir)\n",
|
| 32 |
+
"os.makedirs(output_dir)\n",
|
| 33 |
+
"\n",
|
| 34 |
+
"#------ different for each part\n",
|
| 35 |
+
"rgba = \"0.203922 0.203922 0.203922 1\"\n",
|
| 36 |
+
"\n",
|
| 37 |
+
"asset_name = input_file.split(\"/\")[-1].replace(\".STL\", \"\")\n",
|
| 38 |
+
"\n",
|
| 39 |
+
"asset_config = \"\"\"\n",
|
| 40 |
+
"<mujocoinclude>\n",
|
| 41 |
+
"\"\"\"\n",
|
| 42 |
+
"\n",
|
| 43 |
+
"geom_config = \"\"\"\n",
|
| 44 |
+
"<mujocoinclude>\n",
|
| 45 |
+
"\"\"\".format(asset_name)\n",
|
| 46 |
+
"\n",
|
| 47 |
+
"for i, part in enumerate(parts):\n",
|
| 48 |
+
" output_file = os.path.join(output_dir, f\"part_{i}.obj\")\n",
|
| 49 |
+
" part_mesh = trimesh.Trimesh(vertices=part[0], faces=part[1])\n",
|
| 50 |
+
" part_mesh.export(output_file)\n",
|
| 51 |
+
" asset_config += ' <mesh name=\"{}_part_{}\" file=\"../meshes/{}_convex_dec/part_{}.obj\" scale=\"1 1 1\"/>\\n'.format(asset_name, i, asset_name, i)\n",
|
| 52 |
+
" geom_config += ' <geom type=\"mesh\" rgba=\"{}\" mesh=\"{}_part_{}\"/>\\n'.format(rgba, asset_name, i)\n",
|
| 53 |
+
" # body_config += ' class=\"obj_collision\"/>\\n'\n",
|
| 54 |
+
"\n",
|
| 55 |
+
"\n",
|
| 56 |
+
"\n",
|
| 57 |
+
"\n",
|
| 58 |
+
"asset_config += \"</mujocoinclude>\\n\"\n",
|
| 59 |
+
"print(asset_config)\n",
|
| 60 |
+
"with open(f\"convex_dec_include/{asset_name}_asset_include.xml\", \"w\") as fa:\n",
|
| 61 |
+
" fa.write(asset_config)\n",
|
| 62 |
+
"print(f\"{asset_name}_asset_include.xml 写入成功！\")\n",
|
| 63 |
+
"\n",
|
| 64 |
+
"\n",
|
| 65 |
+
"\n",
|
| 66 |
+
"\n",
|
| 67 |
+
"geom_config += \"</mujocoinclude>\\n\"\n",
|
| 68 |
+
"print(geom_config)\n",
|
| 69 |
+
"with open(f\"convex_dec_include/{asset_name}_geom_include.xml\", \"w\") as fg:\n",
|
| 70 |
+
" fg.write(geom_config)\n",
|
| 71 |
+
"print(f\"{asset_name}_geom_include.xml 写入成功！\")\n",
|
| 72 |
+
"\n"
|
| 73 |
+
]
|
| 74 |
+
},
|
| 75 |
+
{
|
| 76 |
+
"cell_type": "code",
|
| 77 |
+
"execution_count": null,
|
| 78 |
+
"metadata": {},
|
| 79 |
+
"outputs": [],
|
| 80 |
+
"source": []
|
| 81 |
+
}
|
| 82 |
+
],
|
| 83 |
+
"metadata": {
|
| 84 |
+
"kernelspec": {
|
| 85 |
+
"display_name": "discoverse",
|
| 86 |
+
"language": "python",
|
| 87 |
+
"name": "python3"
|
| 88 |
+
},
|
| 89 |
+
"language_info": {
|
| 90 |
+
"codemirror_mode": {
|
| 91 |
+
"name": "ipython",
|
| 92 |
+
"version": 3
|
| 93 |
+
},
|
| 94 |
+
"file_extension": ".py",
|
| 95 |
+
"mimetype": "text/x-python",
|
| 96 |
+
"name": "python",
|
| 97 |
+
"nbconvert_exporter": "python",
|
| 98 |
+
"pygments_lexer": "ipython3",
|
| 99 |
+
"version": "3.12.8"
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
"nbformat": 4,
|
| 103 |
+
"nbformat_minor": 2
|
| 104 |
+
}
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/inspire_right_hand.urdf
ADDED
|
@@ -0,0 +1,894 @@
|
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|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
+
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
| 3 |
+
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
|
| 4 |
+
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
| 5 |
+
<robot
|
| 6 |
+
name="urdf_right_2025_1_17">
|
| 7 |
+
|
| 8 |
+
<link name="world"/>
|
| 9 |
+
|
| 10 |
+
<joint name="R_hand_base_joint" type="fixed">
|
| 11 |
+
<origin
|
| 12 |
+
xyz="0 0 0"
|
| 13 |
+
rpy="0 0 1.57" />
|
| 14 |
+
<parent link="world"/>
|
| 15 |
+
<child link="base_link"/>
|
| 16 |
+
</joint>
|
| 17 |
+
|
| 18 |
+
<link
|
| 19 |
+
name="base_link">
|
| 20 |
+
<inertial>
|
| 21 |
+
<origin
|
| 22 |
+
xyz="9.62921407305015E-05 0.00262204660324472 0.0666239077412895"
|
| 23 |
+
rpy="0 0 0" />
|
| 24 |
+
<mass
|
| 25 |
+
value="0.23261284481802" />
|
| 26 |
+
<inertia
|
| 27 |
+
ixx="0.00010719657305769"
|
| 28 |
+
ixy="4.98904105628549E-08"
|
| 29 |
+
ixz="1.65942672682969E-07"
|
| 30 |
+
iyy="0.000125785887696862"
|
| 31 |
+
iyz="6.18360205695587E-07"
|
| 32 |
+
izz="7.20741639349737E-05" />
|
| 33 |
+
</inertial>
|
| 34 |
+
<visual>
|
| 35 |
+
<origin
|
| 36 |
+
xyz="0 0 0"
|
| 37 |
+
rpy="0 0 1.5708" />
|
| 38 |
+
<geometry>
|
| 39 |
+
<mesh
|
| 40 |
+
filename="../../../meshes/base_link.STL" />
|
| 41 |
+
</geometry>
|
| 42 |
+
<material
|
| 43 |
+
name="">
|
| 44 |
+
<color
|
| 45 |
+
rgba="1 1 1 1" />
|
| 46 |
+
</material>
|
| 47 |
+
</visual>
|
| 48 |
+
<collision>
|
| 49 |
+
<origin
|
| 50 |
+
xyz="0 0 0"
|
| 51 |
+
rpy="0 0 0" />
|
| 52 |
+
<geometry>
|
| 53 |
+
<mesh
|
| 54 |
+
filename="../../../meshes/base_link.STL" />
|
| 55 |
+
</geometry>
|
| 56 |
+
</collision>
|
| 57 |
+
</link>
|
| 58 |
+
<link
|
| 59 |
+
name="palm_Link">
|
| 60 |
+
<inertial>
|
| 61 |
+
<origin
|
| 62 |
+
xyz="-0.000661496838494929 -0.00378363461030504 0.0404053257667788"
|
| 63 |
+
rpy="0 0 0" />
|
| 64 |
+
<mass
|
| 65 |
+
value="0.0616740943156661" />
|
| 66 |
+
<inertia
|
| 67 |
+
ixx="9.02234284044049E-05"
|
| 68 |
+
ixy="-7.52035206367693E-07"
|
| 69 |
+
ixz="-1.81527672613384E-07"
|
| 70 |
+
iyy="0.000119835554392946"
|
| 71 |
+
iyz="6.85982189845744E-07"
|
| 72 |
+
izz="5.63162281121666E-05" />
|
| 73 |
+
</inertial>
|
| 74 |
+
<visual>
|
| 75 |
+
<origin
|
| 76 |
+
xyz="0 0 0"
|
| 77 |
+
rpy="0 0 0" />
|
| 78 |
+
<geometry>
|
| 79 |
+
<mesh
|
| 80 |
+
filename="../../../meshes/palm_Link.STL" />
|
| 81 |
+
</geometry>
|
| 82 |
+
<material
|
| 83 |
+
name="">
|
| 84 |
+
<color
|
| 85 |
+
rgba="0.203921568627451 0.203921568627451 0.203921568627451 1" />
|
| 86 |
+
</material>
|
| 87 |
+
</visual>
|
| 88 |
+
<collision>
|
| 89 |
+
<origin
|
| 90 |
+
xyz="0 0 0"
|
| 91 |
+
rpy="0 0 0" />
|
| 92 |
+
<geometry>
|
| 93 |
+
<mesh
|
| 94 |
+
filename="../../../meshes/palm_Link.STL" />
|
| 95 |
+
</geometry>
|
| 96 |
+
</collision>
|
| 97 |
+
</link>
|
| 98 |
+
<joint
|
| 99 |
+
name="palm_joint"
|
| 100 |
+
type="fixed">
|
| 101 |
+
<origin
|
| 102 |
+
xyz="0 0 0.041"
|
| 103 |
+
rpy="0 0 0" />
|
| 104 |
+
<parent
|
| 105 |
+
link="base_link" />
|
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|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/inspire_right_hand.xml
ADDED
|
@@ -0,0 +1,188 @@
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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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|
|
|
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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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|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="urdf_right_2025_1_17">
|
| 2 |
+
<compiler angle="radian"/>
|
| 3 |
+
|
| 4 |
+
<option solver="Newton" tolerance="1e-6" timestep=".001" integrator="RK4"/>
|
| 5 |
+
|
| 6 |
+
<visual>
|
| 7 |
+
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
|
| 8 |
+
<rgba haze="0.15 0.25 0.35 1"/>
|
| 9 |
+
<global offwidth="1920" offheight="1080" azimuth="-35" elevation="-50" fovy="8"/>
|
| 10 |
+
</visual>
|
| 11 |
+
|
| 12 |
+
<asset>
|
| 13 |
+
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 14 |
+
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
|
| 15 |
+
markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
| 16 |
+
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
| 17 |
+
|
| 18 |
+
<include file="convex_dec_include/base_link_asset_include.xml"/>
|
| 19 |
+
<include file="convex_dec_include/palm_Link_asset_include.xml"/>
|
| 20 |
+
<include file="convex_dec_include/palm_Link_1_asset_include.xml"/>
|
| 21 |
+
|
| 22 |
+
<include file="convex_dec_include/right_thumb_1_asset_include.xml"/>
|
| 23 |
+
<include file="convex_dec_include/right_thumb_2_asset_include.xml"/>
|
| 24 |
+
<include file="convex_dec_include/right_thumb_3_asset_include.xml"/>
|
| 25 |
+
<include file="convex_dec_include/right_thumb_4_asset_include.xml"/>
|
| 26 |
+
|
| 27 |
+
<include file="convex_dec_include/right_index_1_asset_include.xml"/>
|
| 28 |
+
<include file="convex_dec_include/right_index_2_asset_include.xml"/>
|
| 29 |
+
|
| 30 |
+
<include file="convex_dec_include/right_middle_1_asset_include.xml"/>
|
| 31 |
+
<include file="convex_dec_include/right_middle_2_asset_include.xml"/>
|
| 32 |
+
|
| 33 |
+
<include file="convex_dec_include/right_ring_1_asset_include.xml"/>
|
| 34 |
+
<include file="convex_dec_include/right_ring_2_asset_include.xml"/>
|
| 35 |
+
|
| 36 |
+
<include file="convex_dec_include/right_little_1_asset_include.xml"/>
|
| 37 |
+
<include file="convex_dec_include/right_little_2_asset_include.xml"/>
|
| 38 |
+
</asset>
|
| 39 |
+
|
| 40 |
+
<worldbody>
|
| 41 |
+
<light name="1" pos="0.5 0.5 0.5" dir="-1 -1 -1" diffuse="1 1 1" specular="0.5 0.5 0.5" castshadow="false"/>
|
| 42 |
+
<light name="2" pos="-0.5 -0.5 -0.5" dir="1 1 1" diffuse="1 1 1" specular="0.5 0.5 0.5" castshadow="false"/>
|
| 43 |
+
|
| 44 |
+
<body name="base_link" quat="0.707388 0 0 0.706825">
|
| 45 |
+
<include file="convex_dec_include/base_link_geom_include.xml"/>
|
| 46 |
+
</body>
|
| 47 |
+
|
| 48 |
+
<body name="palm_link" pos="0 0 0.041" quat="0.707388 0 0 0.706825">
|
| 49 |
+
<include file="convex_dec_include/palm_Link_geom_include.xml"/>
|
| 50 |
+
<include file="sensor_include/palm_site_include.xml"/>
|
| 51 |
+
</body>
|
| 52 |
+
|
| 53 |
+
<body name="palm_link_1" pos="0 0 0.041" quat="0.707388 0 0 0.706825">
|
| 54 |
+
<include file="convex_dec_include/palm_Link_1_geom_include.xml"/>
|
| 55 |
+
</body>
|
| 56 |
+
|
| 57 |
+
<!-- Thumb -->
|
| 58 |
+
<body name="right_thumb_1" pos="0.0210314 0.0268833 0.069" quat="-0.706828 0 0 0.707386">
|
| 59 |
+
<inertial pos="-0.00178423 0.000649411 0.00488589" quat="0.609481 0.695344 0.128437 -0.358515" mass="0.00115519" diaginertia="6.58579e-08 5.87769e-08 3.77927e-08"/>
|
| 60 |
+
<joint name="right_thumb_1_joint" pos="0 0 0" axis="0 0 -1" range="0 1.15" actuatorfrcrange="-10 10" damping="0.01" frictionloss='0.01'/>
|
| 61 |
+
<include file="convex_dec_include/right_thumb_1_geom_include.xml"/>
|
| 62 |
+
|
| 63 |
+
<body name="right_thumb_2" pos="-0.0063016 0.011924 0.003" quat="0.122797 0.122797 0.696364 0.696361">
|
| 64 |
+
<inertial pos="0.0141071 0.013272 -0.0090503" quat="0.653094 0.270971 -0.653141 0.271017" mass="0.0064504" diaginertia="1.39688e-06 1.14175e-06 9.89349e-07"/>
|
| 65 |
+
<joint name="right_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="0 0.55" actuatorfrcrange="-10 10" damping="0.01" frictionloss='0.01'/>
|
| 66 |
+
<include file="convex_dec_include/right_thumb_2_geom_include.xml"/>
|
| 67 |
+
|
| 68 |
+
<body name="right_thumb_3" pos="0.034968 0.021325 -0.0015">
|
| 69 |
+
<inertial pos="0.00937844 0.00404408 -0.00753947" quat="0.686654 0.690582 -0.161401 -0.159853" mass="0.00397613" diaginertia="4.9004e-07 4.24794e-07 3.76617e-07"/>
|
| 70 |
+
<joint name="right_thumb_3_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-10 10" damping="0.01" frictionloss='0.01'/>
|
| 71 |
+
<include file="convex_dec_include/right_thumb_3_geom_include.xml"/>
|
| 72 |
+
|
| 73 |
+
<body name="right_thumb_4" pos="0.018887 0.011501 -0.0002">
|
| 74 |
+
<inertial pos="0.0159974 0.00631063 -0.00734352" quat="0.306916 0.308192 0.637344 0.636092" mass="0.00913038" diaginertia="9.67919e-07 9.25691e-07 4.39361e-07"/>
|
| 75 |
+
<joint name="right_thumb_4_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-10 10" damping="0.01" frictionloss='0.01'/>
|
| 76 |
+
<include file="convex_dec_include/right_thumb_4_geom_include.xml"/>
|
| 77 |
+
</body>
|
| 78 |
+
</body>
|
| 79 |
+
</body>
|
| 80 |
+
</body>
|
| 81 |
+
|
| 82 |
+
<!-- Index -->
|
| 83 |
+
<body name="right_index_1" pos="0.000595471 0.0386785 0.1564" quat="0.000275312 0.000285093 0.719339 0.694659">
|
| 84 |
+
<inertial pos="-0.00228224 0.0122806 -0.00664924" quat="0.475493 0.523357 -0.475453 0.523401" mass="0.0072" diaginertia="1.32924e-06 1.28622e-06 5.76964e-07"/>
|
| 85 |
+
<joint name="right_index_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.6" actuatorfrcrange="-10 10"/>
|
| 86 |
+
<include file="convex_dec_include/right_index_1_geom_include.xml"/>
|
| 87 |
+
|
| 88 |
+
<body name="right_index_2" pos="-0.002817 0.032654 -0.00055">
|
| 89 |
+
<inertial pos="0.000405081 0.0257028 -0.00609276" quat="0.703612 0.702971 0.0715956 0.0750715" mass="0.00968594" diaginertia="2.34184e-06 2.30201e-06 3.04584e-07"/>
|
| 90 |
+
<joint name="right_index_2_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-10 10"/>
|
| 91 |
+
<include file="convex_dec_include/right_index_2_geom_include.xml"/>
|
| 92 |
+
</body>
|
| 93 |
+
</body>
|
| 94 |
+
|
| 95 |
+
<!-- Middle -->
|
| 96 |
+
<body name="right_middle" pos="0.000578287 0.0170995 0.157" quat="0.000280245 0.000280246 0.707108 0.707105">
|
| 97 |
+
<inertial pos="-0.00229221 0.0122787 -0.00664924" quat="0.47528 0.52355 -0.47524 0.523594" mass="0.00719999" diaginertia="1.32924e-06 1.28622e-06 5.76964e-07"/>
|
| 98 |
+
<joint name="right_middle_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.6" actuatorfrcrange="-1 1"/>
|
| 99 |
+
<include file="convex_dec_include/right_middle_1_geom_include.xml"/>
|
| 100 |
+
|
| 101 |
+
<body name="right_middle_2" pos="-0.0028436 0.032651 -0.00055">
|
| 102 |
+
<inertial pos="7.55635e-05 0.0274472 -0.00610051" quat="0.703921 0.703917 0.0669721 0.067155" mass="0.0104603" diaginertia="2.8477e-06 2.80695e-06 3.32744e-07"/>
|
| 103 |
+
<joint name="right_middle_2_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-1 1"/>
|
| 104 |
+
<include file="convex_dec_include/right_middle_2_geom_include.xml"/>
|
| 105 |
+
</body>
|
| 106 |
+
</body>
|
| 107 |
+
|
| 108 |
+
<!-- Ring -->
|
| 109 |
+
<body name="right_ring_1" pos="0.000561062 -0.00453065 0.15683" quat="0.00028749 0.000272808 0.688341 0.725387">
|
| 110 |
+
<inertial pos="-0.00240481 0.0122572 -0.00664924" quat="0.472873 0.525725 -0.472833 0.52577" mass="0.00719999" diaginertia="1.32924e-06 1.28622e-06 5.76964e-07"/>
|
| 111 |
+
<joint name="right_ring_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.6" actuatorfrcrange="-10 10"/>
|
| 112 |
+
<include file="convex_dec_include/right_ring_1_geom_include.xml"/>
|
| 113 |
+
|
| 114 |
+
<body name="right_ring_2" pos="-0.0031431 0.032624 -0.00055">
|
| 115 |
+
<inertial pos="0.000666831 0.0256973 -0.00609277" quat="0.703985 0.703327 0.0680113 0.0714909" mass="0.00968594" diaginertia="2.34184e-06 2.30201e-06 3.04584e-07"/>
|
| 116 |
+
<joint name="right_ring_2_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-10 10"/>
|
| 117 |
+
<include file="convex_dec_include/right_ring_2_geom_include.xml"/>
|
| 118 |
+
</body>
|
| 119 |
+
</body>
|
| 120 |
+
|
| 121 |
+
<!-- Little -->
|
| 122 |
+
<body name="right_little_1" pos="0.000544032 -0.0259164 0.15365" quat="0.000294525 0.000265198 0.669139 0.743137">
|
| 123 |
+
<inertial pos="-0.00232893 0.0122718 -0.00664923" quat="0.474497 0.52426 -0.474457 0.524304" mass="0.00719999" diaginertia="1.32924e-06 1.28622e-06 5.76964e-07"/>
|
| 124 |
+
<joint name="right_little_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.6" actuatorfrcrange="-1 1"/>
|
| 125 |
+
<include file="convex_dec_include/right_little_1_geom_include.xml"/>
|
| 126 |
+
|
| 127 |
+
<body name="right_little_2" pos="-0.0029412 0.032643 -0.00055">
|
| 128 |
+
<inertial pos="0.00160931 0.0209121 -0.00610004" quat="0.702906 0.702909 0.0768667 0.0770299" mass="0.00759283" diaginertia="1.28167e-06 1.2391e-06 2.26513e-07"/>
|
| 129 |
+
<joint name="right_little_2_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-1 1"/>
|
| 130 |
+
<include file="convex_dec_include/right_little_2_geom_include.xml"/>
|
| 131 |
+
</body>
|
| 132 |
+
</body>
|
| 133 |
+
|
| 134 |
+
<light pos="0 0.5 1" dir="0 -1 -1" directional="true"/>
|
| 135 |
+
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
|
| 136 |
+
</worldbody>
|
| 137 |
+
|
| 138 |
+
<sensor>
|
| 139 |
+
<include file="sensor_include/palm_touch_include.xml"/>
|
| 140 |
+
</sensor>
|
| 141 |
+
|
| 142 |
+
<keyframe>
|
| 143 |
+
<key name="0" qpos='0 0 0 0 0 0 0 0 0 0 0 0'/>
|
| 144 |
+
<key name="1" qpos='0.322 0.452629 0.584079 0.390745 0.0807463 0.0882835 0.0808664 0.0895169 1.49839 1.50633 1.50595 1.51428'/>
|
| 145 |
+
<key name="2" qpos='0 0 0 0 0 0 0 0 0 0 0 0'/>
|
| 146 |
+
<key name="3" qpos='0.322 0.452629 0.584079 0.390745 0.0807463 0.0882835 0.0808664 0.0895169 1.49839 1.50633 1.50595 1.51428'/>
|
| 147 |
+
<key name="4" qpos='0 0 0 0 0 0 0 0 0 0 0 0'/>
|
| 148 |
+
<key name="5" qpos='0.322 0.452629 0.584079 0.390745 0.0807463 0.0882835 0.0808664 0.0895169 1.49839 1.50633 1.50595 1.51428'/>
|
| 149 |
+
<key name="6" qpos='0 0 0 0 0 0 0 0 0 0 0 0'/>
|
| 150 |
+
|
| 151 |
+
</keyframe>
|
| 152 |
+
|
| 153 |
+
<actuator>
|
| 154 |
+
<!-- Thumb -->
|
| 155 |
+
<position name="right_thumb_1_joint" joint="right_thumb_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
|
| 156 |
+
<position name="right_thumb_2_joint" joint="right_thumb_2_joint" kp="2" dampratio="0.1" inheritrange="1"/>
|
| 157 |
+
|
| 158 |
+
<!-- Index -->
|
| 159 |
+
<position name="right_index_1_joint" joint="right_index_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
|
| 160 |
+
|
| 161 |
+
<!-- Middle -->
|
| 162 |
+
<position name="right_middle_1_joint" joint="right_middle_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
|
| 163 |
+
|
| 164 |
+
<!-- Ring -->
|
| 165 |
+
<position name="right_ring_1_joint" joint="right_ring_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
|
| 166 |
+
|
| 167 |
+
<!-- Little -->
|
| 168 |
+
<position name="right_little_1_joint" joint="right_little_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
|
| 169 |
+
</actuator>
|
| 170 |
+
|
| 171 |
+
<equality>
|
| 172 |
+
<!-- Thumb -->
|
| 173 |
+
<joint name="right_thumb_3_joint" joint1="right_thumb_2_joint" joint2="right_thumb_3_joint" polycoef="0 0.8 0 0"/>
|
| 174 |
+
<joint name="right_thumb_4_joint" joint1="right_thumb_2_joint" joint2="right_thumb_4_joint" polycoef="0 1.2 0 0"/>
|
| 175 |
+
|
| 176 |
+
<!-- Index -->
|
| 177 |
+
<joint name="right_index_2_joint" joint1="right_index_1_joint" joint2="right_index_2_joint" polycoef="0 1 0 0"/>
|
| 178 |
+
|
| 179 |
+
<!-- Middle -->
|
| 180 |
+
<joint name="right_middle_2_joint" joint1="right_middle_1_joint" joint2="right_middle_2_joint" polycoef="0 1 0 0"/>
|
| 181 |
+
|
| 182 |
+
<!-- Ring -->
|
| 183 |
+
<joint name="right_ring_2_joint" joint1="right_ring_1_joint" joint2="right_ring_2_joint" polycoef="0 1 0 0"/>
|
| 184 |
+
|
| 185 |
+
<!-- Little -->
|
| 186 |
+
<joint name="right_little_2_joint" joint1="right_little_1_joint" joint2="right_little_2_joint" polycoef="0 1 0 0"/>
|
| 187 |
+
</equality>
|
| 188 |
+
</mujoco>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/sensor_include/palm_site_include.xml
ADDED
|
@@ -0,0 +1,114 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
| 1 |
+
<mujcocoinclude>
|
| 2 |
+
<site name="palm_0_0" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.025 -0.012 0.09"/>
|
| 3 |
+
<site name="palm_0_1" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0219 -0.012 0.09"/>
|
| 4 |
+
<site name="palm_0_2" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0188 -0.012 0.09"/>
|
| 5 |
+
<site name="palm_0_3" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0157 -0.012 0.09"/>
|
| 6 |
+
<site name="palm_0_4" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0126 -0.012 0.09"/>
|
| 7 |
+
<site name="palm_0_5" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0095 -0.012 0.09"/>
|
| 8 |
+
<site name="palm_0_6" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0064 -0.012 0.09"/>
|
| 9 |
+
<site name="palm_0_7" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0033 -0.012 0.09"/>
|
| 10 |
+
<site name="palm_0_8" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0002 -0.012 0.09"/>
|
| 11 |
+
<site name="palm_0_9" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0029 -0.012 0.09"/>
|
| 12 |
+
<site name="palm_0_10" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.006 -0.012 0.09"/>
|
| 13 |
+
<site name="palm_0_11" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0091 -0.012 0.09"/>
|
| 14 |
+
<site name="palm_0_12" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0122 -0.012 0.09"/>
|
| 15 |
+
<site name="palm_0_13" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0153 -0.012 0.09"/>
|
| 16 |
+
<site name="palm_1_0" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.025 -0.012 0.0869"/>
|
| 17 |
+
<site name="palm_1_1" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0219 -0.012 0.0869"/>
|
| 18 |
+
<site name="palm_1_2" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0188 -0.012 0.0869"/>
|
| 19 |
+
<site name="palm_1_3" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0157 -0.012 0.0869"/>
|
| 20 |
+
<site name="palm_1_4" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0126 -0.012 0.0869"/>
|
| 21 |
+
<site name="palm_1_5" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0095 -0.012 0.0869"/>
|
| 22 |
+
<site name="palm_1_6" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0064 -0.012 0.0869"/>
|
| 23 |
+
<site name="palm_1_7" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0033 -0.012 0.0869"/>
|
| 24 |
+
<site name="palm_1_8" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0002 -0.012 0.0869"/>
|
| 25 |
+
<site name="palm_1_9" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0029 -0.012 0.0869"/>
|
| 26 |
+
<site name="palm_1_10" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.006 -0.012 0.0869"/>
|
| 27 |
+
<site name="palm_1_11" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0091 -0.012 0.0869"/>
|
| 28 |
+
<site name="palm_1_12" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0122 -0.012 0.0869"/>
|
| 29 |
+
<site name="palm_1_13" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0153 -0.012 0.0869"/>
|
| 30 |
+
<site name="palm_2_0" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.025 -0.012 0.0838"/>
|
| 31 |
+
<site name="palm_2_1" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0219 -0.012 0.0838"/>
|
| 32 |
+
<site name="palm_2_2" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0188 -0.012 0.0838"/>
|
| 33 |
+
<site name="palm_2_3" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0157 -0.012 0.0838"/>
|
| 34 |
+
<site name="palm_2_4" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0126 -0.012 0.0838"/>
|
| 35 |
+
<site name="palm_2_5" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0095 -0.012 0.0838"/>
|
| 36 |
+
<site name="palm_2_6" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0064 -0.012 0.0838"/>
|
| 37 |
+
<site name="palm_2_7" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0033 -0.012 0.0838"/>
|
| 38 |
+
<site name="palm_2_8" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0002 -0.012 0.0838"/>
|
| 39 |
+
<site name="palm_2_9" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0029 -0.012 0.0838"/>
|
| 40 |
+
<site name="palm_2_10" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.006 -0.012 0.0838"/>
|
| 41 |
+
<site name="palm_2_11" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0091 -0.012 0.0838"/>
|
| 42 |
+
<site name="palm_2_12" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0122 -0.012 0.0838"/>
|
| 43 |
+
<site name="palm_2_13" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0153 -0.012 0.0838"/>
|
| 44 |
+
<site name="palm_3_0" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.025 -0.012 0.0807"/>
|
| 45 |
+
<site name="palm_3_1" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0219 -0.012 0.0807"/>
|
| 46 |
+
<site name="palm_3_2" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0188 -0.012 0.0807"/>
|
| 47 |
+
<site name="palm_3_3" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0157 -0.012 0.0807"/>
|
| 48 |
+
<site name="palm_3_4" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0126 -0.012 0.0807"/>
|
| 49 |
+
<site name="palm_3_5" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0095 -0.012 0.0807"/>
|
| 50 |
+
<site name="palm_3_6" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0064 -0.012 0.0807"/>
|
| 51 |
+
<site name="palm_3_7" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0033 -0.012 0.0807"/>
|
| 52 |
+
<site name="palm_3_8" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0002 -0.012 0.0807"/>
|
| 53 |
+
<site name="palm_3_9" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0029 -0.012 0.0807"/>
|
| 54 |
+
<site name="palm_3_10" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.006 -0.012 0.0807"/>
|
| 55 |
+
<site name="palm_3_11" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0091 -0.012 0.0807"/>
|
| 56 |
+
<site name="palm_3_12" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0122 -0.012 0.0807"/>
|
| 57 |
+
<site name="palm_3_13" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0153 -0.012 0.0807"/>
|
| 58 |
+
<site name="palm_4_0" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.025 -0.012 0.0776"/>
|
| 59 |
+
<site name="palm_4_1" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0219 -0.012 0.0776"/>
|
| 60 |
+
<site name="palm_4_2" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0188 -0.012 0.0776"/>
|
| 61 |
+
<site name="palm_4_3" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0157 -0.012 0.0776"/>
|
| 62 |
+
<site name="palm_4_4" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0126 -0.012 0.0776"/>
|
| 63 |
+
<site name="palm_4_5" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0095 -0.012 0.0776"/>
|
| 64 |
+
<site name="palm_4_6" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0064 -0.012 0.0776"/>
|
| 65 |
+
<site name="palm_4_7" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0033 -0.012 0.0776"/>
|
| 66 |
+
<site name="palm_4_8" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0002 -0.012 0.0776"/>
|
| 67 |
+
<site name="palm_4_9" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0029 -0.012 0.0776"/>
|
| 68 |
+
<site name="palm_4_10" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.006 -0.012 0.0776"/>
|
| 69 |
+
<site name="palm_4_11" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0091 -0.012 0.0776"/>
|
| 70 |
+
<site name="palm_4_12" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0122 -0.012 0.0776"/>
|
| 71 |
+
<site name="palm_4_13" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0153 -0.012 0.0776"/>
|
| 72 |
+
<site name="palm_5_0" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.025 -0.012 0.0745"/>
|
| 73 |
+
<site name="palm_5_1" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0219 -0.012 0.0745"/>
|
| 74 |
+
<site name="palm_5_2" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0188 -0.012 0.0745"/>
|
| 75 |
+
<site name="palm_5_3" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0157 -0.012 0.0745"/>
|
| 76 |
+
<site name="palm_5_4" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0126 -0.012 0.0745"/>
|
| 77 |
+
<site name="palm_5_5" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0095 -0.012 0.0745"/>
|
| 78 |
+
<site name="palm_5_6" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0064 -0.012 0.0745"/>
|
| 79 |
+
<site name="palm_5_7" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0033 -0.012 0.0745"/>
|
| 80 |
+
<site name="palm_5_8" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0002 -0.012 0.0745"/>
|
| 81 |
+
<site name="palm_5_9" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0029 -0.012 0.0745"/>
|
| 82 |
+
<site name="palm_5_10" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.006 -0.012 0.0745"/>
|
| 83 |
+
<site name="palm_5_11" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0091 -0.012 0.0745"/>
|
| 84 |
+
<site name="palm_5_12" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0122 -0.012 0.0745"/>
|
| 85 |
+
<site name="palm_5_13" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0153 -0.012 0.0745"/>
|
| 86 |
+
<site name="palm_6_0" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.025 -0.012 0.0714"/>
|
| 87 |
+
<site name="palm_6_1" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0219 -0.012 0.0714"/>
|
| 88 |
+
<site name="palm_6_2" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0188 -0.012 0.0714"/>
|
| 89 |
+
<site name="palm_6_3" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0157 -0.012 0.0714"/>
|
| 90 |
+
<site name="palm_6_4" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0126 -0.012 0.0714"/>
|
| 91 |
+
<site name="palm_6_5" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0095 -0.012 0.0714"/>
|
| 92 |
+
<site name="palm_6_6" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0064 -0.012 0.0714"/>
|
| 93 |
+
<site name="palm_6_7" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0033 -0.012 0.0714"/>
|
| 94 |
+
<site name="palm_6_8" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0002 -0.012 0.0714"/>
|
| 95 |
+
<site name="palm_6_9" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0029 -0.012 0.0714"/>
|
| 96 |
+
<site name="palm_6_10" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.006 -0.012 0.0714"/>
|
| 97 |
+
<site name="palm_6_11" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0091 -0.012 0.0714"/>
|
| 98 |
+
<site name="palm_6_12" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0122 -0.012 0.0714"/>
|
| 99 |
+
<site name="palm_6_13" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0153 -0.012 0.0714"/>
|
| 100 |
+
<site name="palm_7_0" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.025 -0.012 0.0683"/>
|
| 101 |
+
<site name="palm_7_1" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0219 -0.012 0.0683"/>
|
| 102 |
+
<site name="palm_7_2" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0188 -0.012 0.0683"/>
|
| 103 |
+
<site name="palm_7_3" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0157 -0.012 0.0683"/>
|
| 104 |
+
<site name="palm_7_4" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0126 -0.012 0.0683"/>
|
| 105 |
+
<site name="palm_7_5" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0095 -0.012 0.0683"/>
|
| 106 |
+
<site name="palm_7_6" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0064 -0.012 0.0683"/>
|
| 107 |
+
<site name="palm_7_7" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0033 -0.012 0.0683"/>
|
| 108 |
+
<site name="palm_7_8" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="-0.0002 -0.012 0.0683"/>
|
| 109 |
+
<site name="palm_7_9" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0029 -0.012 0.0683"/>
|
| 110 |
+
<site name="palm_7_10" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.006 -0.012 0.0683"/>
|
| 111 |
+
<site name="palm_7_11" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0091 -0.012 0.0683"/>
|
| 112 |
+
<site name="palm_7_12" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0122 -0.012 0.0683"/>
|
| 113 |
+
<site name="palm_7_13" rgba="0 0.8 1 1" type="box" size="0.0015 0.002 0.0015" pos="0.0153 -0.012 0.0683"/>
|
| 114 |
+
</mujcocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_mjcf/sensor_include/palm_touch_include.xml
ADDED
|
@@ -0,0 +1,114 @@
|
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|
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|
|
| 1 |
+
<mujcocoinclude>
|
| 2 |
+
<touch name="palm_0_0" site="palm_0_0"/>
|
| 3 |
+
<touch name="palm_0_1" site="palm_0_1"/>
|
| 4 |
+
<touch name="palm_0_2" site="palm_0_2"/>
|
| 5 |
+
<touch name="palm_0_3" site="palm_0_3"/>
|
| 6 |
+
<touch name="palm_0_4" site="palm_0_4"/>
|
| 7 |
+
<touch name="palm_0_5" site="palm_0_5"/>
|
| 8 |
+
<touch name="palm_0_6" site="palm_0_6"/>
|
| 9 |
+
<touch name="palm_0_7" site="palm_0_7"/>
|
| 10 |
+
<touch name="palm_0_8" site="palm_0_8"/>
|
| 11 |
+
<touch name="palm_0_9" site="palm_0_9"/>
|
| 12 |
+
<touch name="palm_0_10" site="palm_0_10"/>
|
| 13 |
+
<touch name="palm_0_11" site="palm_0_11"/>
|
| 14 |
+
<touch name="palm_0_12" site="palm_0_12"/>
|
| 15 |
+
<touch name="palm_0_13" site="palm_0_13"/>
|
| 16 |
+
<touch name="palm_1_0" site="palm_1_0"/>
|
| 17 |
+
<touch name="palm_1_1" site="palm_1_1"/>
|
| 18 |
+
<touch name="palm_1_2" site="palm_1_2"/>
|
| 19 |
+
<touch name="palm_1_3" site="palm_1_3"/>
|
| 20 |
+
<touch name="palm_1_4" site="palm_1_4"/>
|
| 21 |
+
<touch name="palm_1_5" site="palm_1_5"/>
|
| 22 |
+
<touch name="palm_1_6" site="palm_1_6"/>
|
| 23 |
+
<touch name="palm_1_7" site="palm_1_7"/>
|
| 24 |
+
<touch name="palm_1_8" site="palm_1_8"/>
|
| 25 |
+
<touch name="palm_1_9" site="palm_1_9"/>
|
| 26 |
+
<touch name="palm_1_10" site="palm_1_10"/>
|
| 27 |
+
<touch name="palm_1_11" site="palm_1_11"/>
|
| 28 |
+
<touch name="palm_1_12" site="palm_1_12"/>
|
| 29 |
+
<touch name="palm_1_13" site="palm_1_13"/>
|
| 30 |
+
<touch name="palm_2_0" site="palm_2_0"/>
|
| 31 |
+
<touch name="palm_2_1" site="palm_2_1"/>
|
| 32 |
+
<touch name="palm_2_2" site="palm_2_2"/>
|
| 33 |
+
<touch name="palm_2_3" site="palm_2_3"/>
|
| 34 |
+
<touch name="palm_2_4" site="palm_2_4"/>
|
| 35 |
+
<touch name="palm_2_5" site="palm_2_5"/>
|
| 36 |
+
<touch name="palm_2_6" site="palm_2_6"/>
|
| 37 |
+
<touch name="palm_2_7" site="palm_2_7"/>
|
| 38 |
+
<touch name="palm_2_8" site="palm_2_8"/>
|
| 39 |
+
<touch name="palm_2_9" site="palm_2_9"/>
|
| 40 |
+
<touch name="palm_2_10" site="palm_2_10"/>
|
| 41 |
+
<touch name="palm_2_11" site="palm_2_11"/>
|
| 42 |
+
<touch name="palm_2_12" site="palm_2_12"/>
|
| 43 |
+
<touch name="palm_2_13" site="palm_2_13"/>
|
| 44 |
+
<touch name="palm_3_0" site="palm_3_0"/>
|
| 45 |
+
<touch name="palm_3_1" site="palm_3_1"/>
|
| 46 |
+
<touch name="palm_3_2" site="palm_3_2"/>
|
| 47 |
+
<touch name="palm_3_3" site="palm_3_3"/>
|
| 48 |
+
<touch name="palm_3_4" site="palm_3_4"/>
|
| 49 |
+
<touch name="palm_3_5" site="palm_3_5"/>
|
| 50 |
+
<touch name="palm_3_6" site="palm_3_6"/>
|
| 51 |
+
<touch name="palm_3_7" site="palm_3_7"/>
|
| 52 |
+
<touch name="palm_3_8" site="palm_3_8"/>
|
| 53 |
+
<touch name="palm_3_9" site="palm_3_9"/>
|
| 54 |
+
<touch name="palm_3_10" site="palm_3_10"/>
|
| 55 |
+
<touch name="palm_3_11" site="palm_3_11"/>
|
| 56 |
+
<touch name="palm_3_12" site="palm_3_12"/>
|
| 57 |
+
<touch name="palm_3_13" site="palm_3_13"/>
|
| 58 |
+
<touch name="palm_4_0" site="palm_4_0"/>
|
| 59 |
+
<touch name="palm_4_1" site="palm_4_1"/>
|
| 60 |
+
<touch name="palm_4_2" site="palm_4_2"/>
|
| 61 |
+
<touch name="palm_4_3" site="palm_4_3"/>
|
| 62 |
+
<touch name="palm_4_4" site="palm_4_4"/>
|
| 63 |
+
<touch name="palm_4_5" site="palm_4_5"/>
|
| 64 |
+
<touch name="palm_4_6" site="palm_4_6"/>
|
| 65 |
+
<touch name="palm_4_7" site="palm_4_7"/>
|
| 66 |
+
<touch name="palm_4_8" site="palm_4_8"/>
|
| 67 |
+
<touch name="palm_4_9" site="palm_4_9"/>
|
| 68 |
+
<touch name="palm_4_10" site="palm_4_10"/>
|
| 69 |
+
<touch name="palm_4_11" site="palm_4_11"/>
|
| 70 |
+
<touch name="palm_4_12" site="palm_4_12"/>
|
| 71 |
+
<touch name="palm_4_13" site="palm_4_13"/>
|
| 72 |
+
<touch name="palm_5_0" site="palm_5_0"/>
|
| 73 |
+
<touch name="palm_5_1" site="palm_5_1"/>
|
| 74 |
+
<touch name="palm_5_2" site="palm_5_2"/>
|
| 75 |
+
<touch name="palm_5_3" site="palm_5_3"/>
|
| 76 |
+
<touch name="palm_5_4" site="palm_5_4"/>
|
| 77 |
+
<touch name="palm_5_5" site="palm_5_5"/>
|
| 78 |
+
<touch name="palm_5_6" site="palm_5_6"/>
|
| 79 |
+
<touch name="palm_5_7" site="palm_5_7"/>
|
| 80 |
+
<touch name="palm_5_8" site="palm_5_8"/>
|
| 81 |
+
<touch name="palm_5_9" site="palm_5_9"/>
|
| 82 |
+
<touch name="palm_5_10" site="palm_5_10"/>
|
| 83 |
+
<touch name="palm_5_11" site="palm_5_11"/>
|
| 84 |
+
<touch name="palm_5_12" site="palm_5_12"/>
|
| 85 |
+
<touch name="palm_5_13" site="palm_5_13"/>
|
| 86 |
+
<touch name="palm_6_0" site="palm_6_0"/>
|
| 87 |
+
<touch name="palm_6_1" site="palm_6_1"/>
|
| 88 |
+
<touch name="palm_6_2" site="palm_6_2"/>
|
| 89 |
+
<touch name="palm_6_3" site="palm_6_3"/>
|
| 90 |
+
<touch name="palm_6_4" site="palm_6_4"/>
|
| 91 |
+
<touch name="palm_6_5" site="palm_6_5"/>
|
| 92 |
+
<touch name="palm_6_6" site="palm_6_6"/>
|
| 93 |
+
<touch name="palm_6_7" site="palm_6_7"/>
|
| 94 |
+
<touch name="palm_6_8" site="palm_6_8"/>
|
| 95 |
+
<touch name="palm_6_9" site="palm_6_9"/>
|
| 96 |
+
<touch name="palm_6_10" site="palm_6_10"/>
|
| 97 |
+
<touch name="palm_6_11" site="palm_6_11"/>
|
| 98 |
+
<touch name="palm_6_12" site="palm_6_12"/>
|
| 99 |
+
<touch name="palm_6_13" site="palm_6_13"/>
|
| 100 |
+
<touch name="palm_7_0" site="palm_7_0"/>
|
| 101 |
+
<touch name="palm_7_1" site="palm_7_1"/>
|
| 102 |
+
<touch name="palm_7_2" site="palm_7_2"/>
|
| 103 |
+
<touch name="palm_7_3" site="palm_7_3"/>
|
| 104 |
+
<touch name="palm_7_4" site="palm_7_4"/>
|
| 105 |
+
<touch name="palm_7_5" site="palm_7_5"/>
|
| 106 |
+
<touch name="palm_7_6" site="palm_7_6"/>
|
| 107 |
+
<touch name="palm_7_7" site="palm_7_7"/>
|
| 108 |
+
<touch name="palm_7_8" site="palm_7_8"/>
|
| 109 |
+
<touch name="palm_7_9" site="palm_7_9"/>
|
| 110 |
+
<touch name="palm_7_10" site="palm_7_10"/>
|
| 111 |
+
<touch name="palm_7_11" site="palm_7_11"/>
|
| 112 |
+
<touch name="palm_7_12" site="palm_7_12"/>
|
| 113 |
+
<touch name="palm_7_13" site="palm_7_13"/>
|
| 114 |
+
</mujcocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/inspire_hand_arm/hand_with_arm.xml
ADDED
|
@@ -0,0 +1,272 @@
|
|
|
|
|
|
|
|
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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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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="air_arm_with_hand">
|
| 2 |
+
|
| 3 |
+
<include file="../scene.xml"/>
|
| 4 |
+
<include file="../airbot_play/airbot_play_dependencies.xml"/>
|
| 5 |
+
|
| 6 |
+
<option integrator="RK4" solver="Newton" />
|
| 7 |
+
<compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="4 5" meshdir="../../meshes/" texturedir="../../textures/"/>
|
| 8 |
+
<size njmax="10000" nconmax="10000"/>
|
| 9 |
+
|
| 10 |
+
<asset>
|
| 11 |
+
<include file="hand_mjcf/convex_dec_include/base_link_asset_include.xml"/>
|
| 12 |
+
<include file="hand_mjcf/convex_dec_include/palm_Link_asset_include.xml"/>
|
| 13 |
+
<include file="hand_mjcf/convex_dec_include/palm_Link_1_asset_include.xml"/>
|
| 14 |
+
|
| 15 |
+
<include file="hand_mjcf/convex_dec_include/right_thumb_1_asset_include.xml"/>
|
| 16 |
+
<include file="hand_mjcf/convex_dec_include/right_thumb_2_asset_include.xml"/>
|
| 17 |
+
<include file="hand_mjcf/convex_dec_include/right_thumb_3_asset_include.xml"/>
|
| 18 |
+
<include file="hand_mjcf/convex_dec_include/right_thumb_4_asset_include.xml"/>
|
| 19 |
+
|
| 20 |
+
<include file="hand_mjcf/convex_dec_include/right_index_1_asset_include.xml"/>
|
| 21 |
+
<include file="hand_mjcf/convex_dec_include/right_index_2_asset_include.xml"/>
|
| 22 |
+
|
| 23 |
+
<include file="hand_mjcf/convex_dec_include/right_middle_1_asset_include.xml"/>
|
| 24 |
+
<include file="hand_mjcf/convex_dec_include/right_middle_2_asset_include.xml"/>
|
| 25 |
+
|
| 26 |
+
<include file="hand_mjcf/convex_dec_include/right_ring_1_asset_include.xml"/>
|
| 27 |
+
<include file="hand_mjcf/convex_dec_include/right_ring_2_asset_include.xml"/>
|
| 28 |
+
|
| 29 |
+
<include file="hand_mjcf/convex_dec_include/right_little_1_asset_include.xml"/>
|
| 30 |
+
<include file="hand_mjcf/convex_dec_include/right_little_2_asset_include.xml"/>
|
| 31 |
+
</asset>
|
| 32 |
+
|
| 33 |
+
<contact>
|
| 34 |
+
<exclude body1='arm_base' body2='link2'/>
|
| 35 |
+
</contact>
|
| 36 |
+
|
| 37 |
+
<worldbody>
|
| 38 |
+
<!-- ======= 原机械臂结构 ======= -->
|
| 39 |
+
<body name="arm_base" pos="0 0 0.78" euler="0 0 0">
|
| 40 |
+
<!-- 原机械臂的几何定义... -->
|
| 41 |
+
<geom type="box" pos="-0.02 0 0.005" size="0.0806 0.1375 0.0025" rgba="0.2 0.2 0.2 1"/>
|
| 42 |
+
<geom mesh="arm_base_0" pos="0 0 -0.0015" material="Gree_Light_Base" class="obj_visual"/>
|
| 43 |
+
<geom mesh="arm_base_1" material="Paint_Matte_Black" class="obj_visual"/>
|
| 44 |
+
<body name="link1" pos="0 0 0.1172">
|
| 45 |
+
<inertial pos="7.9126e-05 -0.002527 -0.0041359" quat="0.696716 0.716558 0.0238919 -0.0236876" mass="0.54639" diaginertia="0.000346294 0.000325437 0.000286269"/>
|
| 46 |
+
<joint name="joint1" class="joint1"/>
|
| 47 |
+
<geom type="mesh" contype="0" conaffinity="0" density="0" rgba="0.1 0.1 0.1 1" mesh="link1"/>
|
| 48 |
+
<body name="link2" quat="0.135866 0.135867 -0.69393 0.693932">
|
| 49 |
+
<inertial pos="0.22493 0.0047721 0.008023" quat="-0.210875 0.632473 -0.273056 0.693506" mass="0.64621" diaginertia="0.00516535 0.00505042 0.000418626"/>
|
| 50 |
+
<joint name="joint2" class="joint2"/>
|
| 51 |
+
<geom type="box" pos="0.08 0.015 0" euler="0 0 0.15" size="0.11 0.03 0.04" rgba="1 0 0 0"/>
|
| 52 |
+
<geom type="box" pos="0.235 0.015 0" euler="0 0 -0.3" size="0.065 0.025 0.045" rgba="1 0 0 0"/>
|
| 53 |
+
<geom mesh="link2_0" material="Paint_Matte_Black" class="obj_visual"/>
|
| 54 |
+
<geom mesh="link2_1" material="Paint_Metallic_White" class="obj_visual"/>
|
| 55 |
+
<body name="link3" pos="0.27009 0 0" quat="0.192144 0 0 -0.981367">
|
| 56 |
+
<inertial pos="0.16813 -5.5576e-05 0.0031184" quat="0.511278 0.488423 0.489191 0.510617" mass="0.26829" diaginertia="0.0031527 0.0030951 0.000239403"/>
|
| 57 |
+
<joint name="joint3" class="joint3"/>
|
| 58 |
+
<geom type="box" pos="0.13 0 0" size="0.13 0.025 0.025" rgba="1 0 0 0"/>
|
| 59 |
+
<geom mesh="link3_0" material="Paint_Matte_Black" class="obj_visual"/>
|
| 60 |
+
<geom mesh="link3_1" material="Paint_Metallic_White" class="obj_visual"/>
|
| 61 |
+
<body name="link4" pos="0.29015 0 0" quat="-2.59734e-06 0.707105 2.59735e-06 0.707108">
|
| 62 |
+
<inertial pos="5.2436e-06 0.00040412 -0.03228" quat="0.999969 -0.000174762 -0.00792041 -6.98144e-05" mass="0.34876" diaginertia="0.000423574 0.000412 0.000126826"/>
|
| 63 |
+
<joint name="joint4" class="joint4"/>
|
| 64 |
+
<geom type="mesh" rgba="0.1 0.1 0.1 1" mesh="link4"/>
|
| 65 |
+
<body name="link5" quat="0.707105 0.707108 0 0">
|
| 66 |
+
<inertial pos="8.3328e-06 0.026148 0.002525" quat="0.531568 0.4663 0.4663 0.531568" mass="0.36132" diaginertia="0.0004677 0.000432922 0.000178178"/>
|
| 67 |
+
<joint name="joint5" class="joint5"/>
|
| 68 |
+
<geom mesh="link5_0" material="Paint_Matte_Black" class="obj_visual"/>
|
| 69 |
+
<geom mesh="link5_1" material="Paint_Metallic_White" class="obj_visual"/>
|
| 70 |
+
<body name="link6" pos="0 0.070314 0" quat="0.499998 -0.5 0.5 0.500002">
|
| 71 |
+
<inertial pos="-0.0047053 7.3857e-05 -0.12293" mass="0.53855" diaginertia="5e-05 5e-05 3.85e-05"/>
|
| 72 |
+
<joint name="joint6" class="joint6"/>
|
| 73 |
+
<site name="endpoint" pos='0 0 0' euler="0 -1.5708 0"/>
|
| 74 |
+
<!-- ======= 连接手部模型 ======= -->
|
| 75 |
+
<body name="base_link" pos="0 0 0" quat="0.707388 0 0 0.706825">
|
| 76 |
+
<include file="hand_mjcf/convex_dec_include/base_link_geom_include.xml"/>
|
| 77 |
+
</body>
|
| 78 |
+
|
| 79 |
+
<body name="palm_link" pos="0 0 0.041" quat="0.707388 0 0 0.706825">
|
| 80 |
+
<include file="hand_mjcf/convex_dec_include/palm_Link_geom_include.xml"/>
|
| 81 |
+
<include file="hand_mjcf/sensor_include/palm_site_include.xml"/>
|
| 82 |
+
</body>
|
| 83 |
+
|
| 84 |
+
<body name="palm_link_1" pos="0 0 0.041" quat="0.707388 0 0 0.706825">
|
| 85 |
+
<include file="hand_mjcf/convex_dec_include/palm_Link_1_geom_include.xml"/>
|
| 86 |
+
</body>
|
| 87 |
+
|
| 88 |
+
<!-- Thumb -->
|
| 89 |
+
<body name="right_thumb_1" pos="0.0210314 0.0268833 0.069" quat="-0.706828 0 0 0.707386">
|
| 90 |
+
<inertial pos="-0.00178423 0.000649411 0.00488589" quat="0.609481 0.695344 0.128437 -0.358515" mass="0.00115519" diaginertia="6.58579e-08 5.87769e-08 3.77927e-08"/>
|
| 91 |
+
<joint name="right_thumb_1_joint" pos="0 0 0" axis="0 0 -1" range="0 1.15" actuatorfrcrange="-10 10" damping="0.01" frictionloss='0.01'/>
|
| 92 |
+
<include file="hand_mjcf/convex_dec_include/right_thumb_1_geom_include.xml"/>
|
| 93 |
+
|
| 94 |
+
<body name="right_thumb_2" pos="-0.0063016 0.011924 0.003" quat="0.122797 0.122797 0.696364 0.696361">
|
| 95 |
+
<inertial pos="0.0141071 0.013272 -0.0090503" quat="0.653094 0.270971 -0.653141 0.271017" mass="0.0064504" diaginertia="1.39688e-06 1.14175e-06 9.89349e-07"/>
|
| 96 |
+
<joint name="right_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="0 0.55" actuatorfrcrange="-10 10" damping="0.01" frictionloss='0.01'/>
|
| 97 |
+
<include file="hand_mjcf/convex_dec_include/right_thumb_2_geom_include.xml"/>
|
| 98 |
+
|
| 99 |
+
<body name="right_thumb_3" pos="0.034968 0.021325 -0.0015">
|
| 100 |
+
<inertial pos="0.00937844 0.00404408 -0.00753947" quat="0.686654 0.690582 -0.161401 -0.159853" mass="0.00397613" diaginertia="4.9004e-07 4.24794e-07 3.76617e-07"/>
|
| 101 |
+
<joint name="right_thumb_3_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-10 10" damping="0.01" frictionloss='0.01'/>
|
| 102 |
+
<include file="hand_mjcf/convex_dec_include/right_thumb_3_geom_include.xml"/>
|
| 103 |
+
|
| 104 |
+
<body name="right_thumb_4" pos="0.018887 0.011501 -0.0002">
|
| 105 |
+
<inertial pos="0.0159974 0.00631063 -0.00734352" quat="0.306916 0.308192 0.637344 0.636092" mass="0.00913038" diaginertia="9.67919e-07 9.25691e-07 4.39361e-07"/>
|
| 106 |
+
<joint name="right_thumb_4_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-10 10" damping="0.01" frictionloss='0.01'/>
|
| 107 |
+
<include file="hand_mjcf/convex_dec_include/right_thumb_4_geom_include.xml"/>
|
| 108 |
+
</body>
|
| 109 |
+
</body>
|
| 110 |
+
</body>
|
| 111 |
+
</body>
|
| 112 |
+
|
| 113 |
+
<!-- Index -->
|
| 114 |
+
<body name="right_index_1" pos="0.000595471 0.0386785 0.1564" quat="0.000275312 0.000285093 0.719339 0.694659">
|
| 115 |
+
<inertial pos="-0.00228224 0.0122806 -0.00664924" quat="0.475493 0.523357 -0.475453 0.523401" mass="0.0072" diaginertia="1.32924e-06 1.28622e-06 5.76964e-07"/>
|
| 116 |
+
<joint name="right_index_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.6" actuatorfrcrange="-10 10"/>
|
| 117 |
+
<include file="hand_mjcf/convex_dec_include/right_index_1_geom_include.xml"/>
|
| 118 |
+
|
| 119 |
+
<body name="right_index_2" pos="-0.002817 0.032654 -0.00055">
|
| 120 |
+
<inertial pos="0.000405081 0.0257028 -0.00609276" quat="0.703612 0.702971 0.0715956 0.0750715" mass="0.00968594" diaginertia="2.34184e-06 2.30201e-06 3.04584e-07"/>
|
| 121 |
+
<joint name="right_index_2_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-10 10"/>
|
| 122 |
+
<include file="hand_mjcf/convex_dec_include/right_index_2_geom_include.xml"/>
|
| 123 |
+
</body>
|
| 124 |
+
</body>
|
| 125 |
+
|
| 126 |
+
<!-- Middle -->
|
| 127 |
+
<body name="right_middle" pos="0.000578287 0.0170995 0.157" quat="0.000280245 0.000280246 0.707108 0.707105">
|
| 128 |
+
<inertial pos="-0.00229221 0.0122787 -0.00664924" quat="0.47528 0.52355 -0.47524 0.523594" mass="0.00719999" diaginertia="1.32924e-06 1.28622e-06 5.76964e-07"/>
|
| 129 |
+
<joint name="right_middle_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.6" actuatorfrcrange="-1 1"/>
|
| 130 |
+
<include file="hand_mjcf/convex_dec_include/right_middle_1_geom_include.xml"/>
|
| 131 |
+
|
| 132 |
+
<body name="right_middle_2" pos="-0.0028436 0.032651 -0.00055">
|
| 133 |
+
<inertial pos="7.55635e-05 0.0274472 -0.00610051" quat="0.703921 0.703917 0.0669721 0.067155" mass="0.0104603" diaginertia="2.8477e-06 2.80695e-06 3.32744e-07"/>
|
| 134 |
+
<joint name="right_middle_2_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-1 1"/>
|
| 135 |
+
<include file="hand_mjcf/convex_dec_include/right_middle_2_geom_include.xml"/>
|
| 136 |
+
</body>
|
| 137 |
+
</body>
|
| 138 |
+
|
| 139 |
+
<!-- Ring -->
|
| 140 |
+
<body name="right_ring_1" pos="0.000561062 -0.00453065 0.15683" quat="0.00028749 0.000272808 0.688341 0.725387">
|
| 141 |
+
<inertial pos="-0.00240481 0.0122572 -0.00664924" quat="0.472873 0.525725 -0.472833 0.52577" mass="0.00719999" diaginertia="1.32924e-06 1.28622e-06 5.76964e-07"/>
|
| 142 |
+
<joint name="right_ring_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.6" actuatorfrcrange="-10 10"/>
|
| 143 |
+
<include file="hand_mjcf/convex_dec_include/right_ring_1_geom_include.xml"/>
|
| 144 |
+
|
| 145 |
+
<body name="right_ring_2" pos="-0.0031431 0.032624 -0.00055">
|
| 146 |
+
<inertial pos="0.000666831 0.0256973 -0.00609277" quat="0.703985 0.703327 0.0680113 0.0714909" mass="0.00968594" diaginertia="2.34184e-06 2.30201e-06 3.04584e-07"/>
|
| 147 |
+
<joint name="right_ring_2_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-10 10"/>
|
| 148 |
+
<include file="hand_mjcf/convex_dec_include/right_ring_2_geom_include.xml"/>
|
| 149 |
+
</body>
|
| 150 |
+
</body>
|
| 151 |
+
|
| 152 |
+
<!-- Little -->
|
| 153 |
+
<body name="right_little_1" pos="0.000544032 -0.0259164 0.15365" quat="0.000294525 0.000265198 0.669139 0.743137">
|
| 154 |
+
<inertial pos="-0.00232893 0.0122718 -0.00664923" quat="0.474497 0.52426 -0.474457 0.524304" mass="0.00719999" diaginertia="1.32924e-06 1.28622e-06 5.76964e-07"/>
|
| 155 |
+
<joint name="right_little_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.6" actuatorfrcrange="-1 1"/>
|
| 156 |
+
<include file="hand_mjcf/convex_dec_include/right_little_1_geom_include.xml"/>
|
| 157 |
+
|
| 158 |
+
<body name="right_little_2" pos="-0.0029412 0.032643 -0.00055">
|
| 159 |
+
<inertial pos="0.00160931 0.0209121 -0.00610004" quat="0.702906 0.702909 0.0768667 0.0770299" mass="0.00759283" diaginertia="1.28167e-06 1.2391e-06 2.26513e-07"/>
|
| 160 |
+
<joint name="right_little_2_joint" pos="0 0 0" axis="0 0 1" range="0 3.14" actuatorfrcrange="-1 1"/>
|
| 161 |
+
<include file="hand_mjcf/convex_dec_include/right_little_2_geom_include.xml"/>
|
| 162 |
+
</body>
|
| 163 |
+
</body>
|
| 164 |
+
</body>
|
| 165 |
+
</body>
|
| 166 |
+
</body>
|
| 167 |
+
</body>
|
| 168 |
+
</body>
|
| 169 |
+
</body>
|
| 170 |
+
</body>
|
| 171 |
+
|
| 172 |
+
|
| 173 |
+
|
| 174 |
+
<!-- ======= TABLE write ======= -->
|
| 175 |
+
<body name="table-a" pos="0 0 0">
|
| 176 |
+
<geom size="0.3 0.6 0.01" pos="0 0 0.77" type="box" rgba="0.8 0.8 0.8 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001"/>
|
| 177 |
+
<geom size="0.02 0.02 0.385" pos=" 0.28 0.56 0.385" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
|
| 178 |
+
<geom size="0.02 0.02 0.385" pos="-0.28 0.56 0.385" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
|
| 179 |
+
<geom size="0.02 0.02 0.385" pos=" 0.28 -0.56 0.385" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
|
| 180 |
+
<geom size="0.02 0.02 0.385" pos="-0.28 -0.56 0.385" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
|
| 181 |
+
</body>
|
| 182 |
+
</worldbody>
|
| 183 |
+
|
| 184 |
+
<actuator>
|
| 185 |
+
<position name="joint1" ctrllimited="true" ctrlrange="-3.14 2.09" joint="joint1" kp="1000" user="1" forcelimited="true" forcerange="-300 300"/>
|
| 186 |
+
<position name="joint2" ctrllimited="true" ctrlrange="-2.96 0.17" joint="joint2" kp="1000" user="1" forcelimited="true" forcerange="-300 300"/>
|
| 187 |
+
<position name="joint3" ctrllimited="true" ctrlrange="-0.087 3.14" joint="joint3" kp="1000" user="1" forcelimited="true" forcerange="-300 300"/>
|
| 188 |
+
<position name="joint4" ctrllimited="true" ctrlrange="-2.96 2.96" joint="joint4" kp="350" user="1" forcelimited="true" forcerange="-300 300"/>
|
| 189 |
+
<position name="joint5" ctrllimited="true" ctrlrange="-1.74 1.74" joint="joint5" kp="350" user="1" forcelimited="true" forcerange="-300 300"/>
|
| 190 |
+
<position name="joint6" ctrllimited="true" ctrlrange="-3.14 3.14" joint="joint6" kp="100" user="1" forcelimited="true" forcerange="-300 300"/>
|
| 191 |
+
|
| 192 |
+
<!-- Thumb -->
|
| 193 |
+
<position name="right_thumb_1_joint" joint="right_thumb_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
|
| 194 |
+
<position name="right_thumb_2_joint" joint="right_thumb_2_joint" kp="2" dampratio="0.1" inheritrange="1"/>
|
| 195 |
+
|
| 196 |
+
<!-- Index -->
|
| 197 |
+
<position name="right_index_1_joint" joint="right_index_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
|
| 198 |
+
|
| 199 |
+
<!-- Middle -->
|
| 200 |
+
<position name="right_middle_1_joint" joint="right_middle_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
|
| 201 |
+
|
| 202 |
+
<!-- Ring -->
|
| 203 |
+
<position name="right_ring_1_joint" joint="right_ring_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
|
| 204 |
+
|
| 205 |
+
<!-- Little -->
|
| 206 |
+
<position name="right_little_1_joint" joint="right_little_1_joint" kp="2" dampratio="0.1" inheritrange="1"/>
|
| 207 |
+
|
| 208 |
+
</actuator>
|
| 209 |
+
|
| 210 |
+
<equality>
|
| 211 |
+
<!-- Thumb -->
|
| 212 |
+
<joint name="right_thumb_3_joint" joint1="right_thumb_2_joint" joint2="right_thumb_3_joint" polycoef="0 0.8 0 0"/>
|
| 213 |
+
<joint name="right_thumb_4_joint" joint1="right_thumb_2_joint" joint2="right_thumb_4_joint" polycoef="0 1.2 0 0"/>
|
| 214 |
+
|
| 215 |
+
<!-- Index -->
|
| 216 |
+
<joint name="right_index_2_joint" joint1="right_index_1_joint" joint2="right_index_2_joint" polycoef="0 1 0 0"/>
|
| 217 |
+
|
| 218 |
+
<!-- Middle -->
|
| 219 |
+
<joint name="right_middle_2_joint" joint1="right_middle_1_joint" joint2="right_middle_2_joint" polycoef="0 1 0 0"/>
|
| 220 |
+
|
| 221 |
+
<!-- Ring -->
|
| 222 |
+
<joint name="right_ring_2_joint" joint1="right_ring_1_joint" joint2="right_ring_2_joint" polycoef="0 1 0 0"/>
|
| 223 |
+
|
| 224 |
+
<!-- Little -->
|
| 225 |
+
<joint name="right_little_2_joint" joint1="right_little_1_joint" joint2="right_little_2_joint" polycoef="0 1 0 0"/>
|
| 226 |
+
</equality>
|
| 227 |
+
|
| 228 |
+
<sensor>
|
| 229 |
+
|
| 230 |
+
<jointpos name="joint1_pos" joint="joint1" />
|
| 231 |
+
<jointpos name="joint2_pos" joint="joint2" />
|
| 232 |
+
<jointpos name="joint3_pos" joint="joint3" />
|
| 233 |
+
<jointpos name="joint4_pos" joint="joint4" />
|
| 234 |
+
<jointpos name="joint5_pos" joint="joint5" />
|
| 235 |
+
<jointpos name="joint6_pos" joint="joint6" />
|
| 236 |
+
|
| 237 |
+
<jointvel name="joint1_vel" joint="joint1" />
|
| 238 |
+
<jointvel name="joint2_vel" joint="joint2" />
|
| 239 |
+
<jointvel name="joint3_vel" joint="joint3" />
|
| 240 |
+
<jointvel name="joint4_vel" joint="joint4" />
|
| 241 |
+
<jointvel name="joint5_vel" joint="joint5" />
|
| 242 |
+
<jointvel name="joint6_vel" joint="joint6" />
|
| 243 |
+
|
| 244 |
+
<jointactuatorfrc name="joint1_torque" joint="joint1" />
|
| 245 |
+
<jointactuatorfrc name="joint2_torque" joint="joint2" />
|
| 246 |
+
<jointactuatorfrc name="joint3_torque" joint="joint3" />
|
| 247 |
+
<jointactuatorfrc name="joint4_torque" joint="joint4" />
|
| 248 |
+
<jointactuatorfrc name="joint5_torque" joint="joint5" />
|
| 249 |
+
<jointactuatorfrc name="joint6_torque" joint="joint6" />
|
| 250 |
+
|
| 251 |
+
<framepos name="endpoint_pos" objtype="site" objname="endpoint" reftype="body" refname="arm_base"/>
|
| 252 |
+
<framequat name="endpoint_quat" objtype="site" objname="endpoint" reftype="body" refname="arm_base"/>
|
| 253 |
+
<framelinvel name="endpoint_vel" objtype="site" objname="endpoint" reftype="body" refname="arm_base"/>
|
| 254 |
+
<gyro name="endpoint_gyro" site="endpoint"/>
|
| 255 |
+
<accelerometer name="endpoint_acc" site="endpoint" />
|
| 256 |
+
|
| 257 |
+
<jointpos name="thumb_pos_1" joint="right_thumb_1_joint" />
|
| 258 |
+
<jointpos name="thumb_pos_2" joint="right_thumb_2_joint" />
|
| 259 |
+
<jointpos name="index_pos" joint="right_index_1_joint" />
|
| 260 |
+
<jointpos name="middle_pos" joint="right_middle_1_joint" />
|
| 261 |
+
<jointpos name="ring_pos" joint="right_ring_1_joint" />
|
| 262 |
+
<jointpos name="little_pos" joint="right_little_1_joint" />
|
| 263 |
+
|
| 264 |
+
<include file="hand_mjcf/sensor_include/palm_touch_include.xml"/>
|
| 265 |
+
|
| 266 |
+
</sensor>
|
| 267 |
+
|
| 268 |
+
<keyframe>
|
| 269 |
+
<key name="init" qpos='-0.6819 -0.48601 1.44344 -0.414428 0.452438 0.470939 0.466508 0.493995 0.463505 0.375305 0.54805 0.593241 0.580446 0.62519 0.851218 0.878289 0.914336 0.936303'/>
|
| 270 |
+
</keyframe>
|
| 271 |
+
|
| 272 |
+
</mujoco>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/leaphand_sensor_env/auto_gen_xml.py
ADDED
|
@@ -0,0 +1,52 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
def generate_site_and_geom_tags():
|
| 2 |
+
base_pos = [-0.0115 ,-0.0425 ,0.0181]
|
| 3 |
+
offset_outer = [0, 0.0025, 0]
|
| 4 |
+
offset_inner = [0, 0, -0.0025]
|
| 5 |
+
|
| 6 |
+
geom_tags = []
|
| 7 |
+
site_tags = []
|
| 8 |
+
|
| 9 |
+
for i in range(8):
|
| 10 |
+
pos_outer = [round(base_pos[j] + i * offset_outer[j], 4) for j in range(3)]
|
| 11 |
+
for k in range(4):
|
| 12 |
+
pos_inner = [round(pos_outer[j] + k * offset_inner[j], 4) for j in range(3)]
|
| 13 |
+
site_name = f"mid_tip_{i}_{k}"
|
| 14 |
+
geom_name = f"mid_tip_geom_{i}_{k}"
|
| 15 |
+
|
| 16 |
+
site_tag = f'<site name="{site_name}" pos="{" ".join(map(str, pos_inner))}" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>'
|
| 17 |
+
geom_tag = f'<geom name="{geom_name}" pos="{" ".join(map(str, pos_inner))}" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>'
|
| 18 |
+
|
| 19 |
+
geom_tags.append(geom_tag)
|
| 20 |
+
site_tags.append(site_tag)
|
| 21 |
+
|
| 22 |
+
return geom_tags, site_tags
|
| 23 |
+
|
| 24 |
+
if __name__ == "__main__":
|
| 25 |
+
geom_tags, site_tags = generate_site_and_geom_tags()
|
| 26 |
+
|
| 27 |
+
for tag in geom_tags:
|
| 28 |
+
print(tag)
|
| 29 |
+
|
| 30 |
+
for tag in site_tags:
|
| 31 |
+
print(tag)
|
| 32 |
+
|
| 33 |
+
|
| 34 |
+
# def generate_touch_tags(finger_names):
|
| 35 |
+
# touch_tags = []
|
| 36 |
+
|
| 37 |
+
# for finger in finger_names:
|
| 38 |
+
# for i in range(8):
|
| 39 |
+
# for k in range(4):
|
| 40 |
+
# touch_name = f"{finger}_tip_{i}_{k}"
|
| 41 |
+
# touch_tag = f'<touch name="{touch_name}" site="{touch_name}"/>'
|
| 42 |
+
# touch_tags.append(touch_tag)
|
| 43 |
+
|
| 44 |
+
# return touch_tags
|
| 45 |
+
|
| 46 |
+
# if __name__ == "__main__":
|
| 47 |
+
# finger_names = ["thumb", "index", "mid", "ring"]
|
| 48 |
+
# touch_tags = generate_touch_tags(finger_names)
|
| 49 |
+
|
| 50 |
+
# for tag in touch_tags:
|
| 51 |
+
# print(tag)
|
| 52 |
+
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/leaphand_sensor_env/index_sensor_array.xml
ADDED
|
@@ -0,0 +1,66 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujcocoinclude>
|
| 2 |
+
<geom name="index_tip_geom_0_0" pos="-0.0115 -0.0425 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 3 |
+
<geom name="index_tip_geom_0_1" pos="-0.0115 -0.0425 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 4 |
+
<geom name="index_tip_geom_0_2" pos="-0.0115 -0.0425 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 5 |
+
<geom name="index_tip_geom_0_3" pos="-0.0115 -0.0425 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 6 |
+
<geom name="index_tip_geom_1_0" pos="-0.0115 -0.04 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 7 |
+
<geom name="index_tip_geom_1_1" pos="-0.0115 -0.04 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 8 |
+
<geom name="index_tip_geom_1_2" pos="-0.0115 -0.04 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 9 |
+
<geom name="index_tip_geom_1_3" pos="-0.0115 -0.04 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 10 |
+
<geom name="index_tip_geom_2_0" pos="-0.0115 -0.0375 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 11 |
+
<geom name="index_tip_geom_2_1" pos="-0.0115 -0.0375 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 12 |
+
<geom name="index_tip_geom_2_2" pos="-0.0115 -0.0375 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 13 |
+
<geom name="index_tip_geom_2_3" pos="-0.0115 -0.0375 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 14 |
+
<geom name="index_tip_geom_3_0" pos="-0.0115 -0.035 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 15 |
+
<geom name="index_tip_geom_3_1" pos="-0.0115 -0.035 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 16 |
+
<geom name="index_tip_geom_3_2" pos="-0.0115 -0.035 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 17 |
+
<geom name="index_tip_geom_3_3" pos="-0.0115 -0.035 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 18 |
+
<geom name="index_tip_geom_4_0" pos="-0.0115 -0.0325 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 19 |
+
<geom name="index_tip_geom_4_1" pos="-0.0115 -0.0325 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 20 |
+
<geom name="index_tip_geom_4_2" pos="-0.0115 -0.0325 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 21 |
+
<geom name="index_tip_geom_4_3" pos="-0.0115 -0.0325 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 22 |
+
<geom name="index_tip_geom_5_0" pos="-0.0115 -0.03 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 23 |
+
<geom name="index_tip_geom_5_1" pos="-0.0115 -0.03 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 24 |
+
<geom name="index_tip_geom_5_2" pos="-0.0115 -0.03 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 25 |
+
<geom name="index_tip_geom_5_3" pos="-0.0115 -0.03 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 26 |
+
<geom name="index_tip_geom_6_0" pos="-0.0115 -0.0275 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 27 |
+
<geom name="index_tip_geom_6_1" pos="-0.0115 -0.0275 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 28 |
+
<geom name="index_tip_geom_6_2" pos="-0.0115 -0.0275 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 29 |
+
<geom name="index_tip_geom_6_3" pos="-0.0115 -0.0275 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 30 |
+
<geom name="index_tip_geom_7_0" pos="-0.0115 -0.025 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 31 |
+
<geom name="index_tip_geom_7_1" pos="-0.0115 -0.025 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 32 |
+
<geom name="index_tip_geom_7_2" pos="-0.0115 -0.025 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 33 |
+
<geom name="index_tip_geom_7_3" pos="-0.0115 -0.025 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 34 |
+
<site name="index_tip_0_0" pos="-0.0115 -0.0425 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 35 |
+
<site name="index_tip_0_1" pos="-0.0115 -0.0425 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 36 |
+
<site name="index_tip_0_2" pos="-0.0115 -0.0425 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 37 |
+
<site name="index_tip_0_3" pos="-0.0115 -0.0425 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 38 |
+
<site name="index_tip_1_0" pos="-0.0115 -0.04 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 39 |
+
<site name="index_tip_1_1" pos="-0.0115 -0.04 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 40 |
+
<site name="index_tip_1_2" pos="-0.0115 -0.04 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 41 |
+
<site name="index_tip_1_3" pos="-0.0115 -0.04 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 42 |
+
<site name="index_tip_2_0" pos="-0.0115 -0.0375 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 43 |
+
<site name="index_tip_2_1" pos="-0.0115 -0.0375 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 44 |
+
<site name="index_tip_2_2" pos="-0.0115 -0.0375 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 45 |
+
<site name="index_tip_2_3" pos="-0.0115 -0.0375 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 46 |
+
<site name="index_tip_3_0" pos="-0.0115 -0.035 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 47 |
+
<site name="index_tip_3_1" pos="-0.0115 -0.035 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 48 |
+
<site name="index_tip_3_2" pos="-0.0115 -0.035 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 49 |
+
<site name="index_tip_3_3" pos="-0.0115 -0.035 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 50 |
+
<site name="index_tip_4_0" pos="-0.0115 -0.0325 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 51 |
+
<site name="index_tip_4_1" pos="-0.0115 -0.0325 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 52 |
+
<site name="index_tip_4_2" pos="-0.0115 -0.0325 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 53 |
+
<site name="index_tip_4_3" pos="-0.0115 -0.0325 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 54 |
+
<site name="index_tip_5_0" pos="-0.0115 -0.03 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 55 |
+
<site name="index_tip_5_1" pos="-0.0115 -0.03 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 56 |
+
<site name="index_tip_5_2" pos="-0.0115 -0.03 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 57 |
+
<site name="index_tip_5_3" pos="-0.0115 -0.03 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 58 |
+
<site name="index_tip_6_0" pos="-0.0115 -0.0275 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 59 |
+
<site name="index_tip_6_1" pos="-0.0115 -0.0275 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 60 |
+
<site name="index_tip_6_2" pos="-0.0115 -0.0275 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 61 |
+
<site name="index_tip_6_3" pos="-0.0115 -0.0275 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 62 |
+
<site name="index_tip_7_0" pos="-0.0115 -0.025 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 63 |
+
<site name="index_tip_7_1" pos="-0.0115 -0.025 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 64 |
+
<site name="index_tip_7_2" pos="-0.0115 -0.025 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 65 |
+
<site name="index_tip_7_3" pos="-0.0115 -0.025 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 66 |
+
</mujcocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/leaphand_sensor_env/leaphand_sensor.xml
ADDED
|
@@ -0,0 +1,196 @@
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="right leap hand">
|
| 2 |
+
<compiler angle="radian" autolimits="true" meshdir="assets"/>
|
| 3 |
+
|
| 4 |
+
<option integrator="implicitfast" cone="elliptic" impratio="10"/>
|
| 5 |
+
|
| 6 |
+
<default>
|
| 7 |
+
<default class="right_leap">
|
| 8 |
+
<!-- <site size="0.002" rgba="0.5 0.5 0.5 0.3" /> -->
|
| 9 |
+
<joint axis="0 0 -1" armature="0.01"/>
|
| 10 |
+
<position inheritrange="1" kp="20" dampratio="1"/>
|
| 11 |
+
<default class="obj_visual">
|
| 12 |
+
<geom group="2" type="mesh" contype="0" conaffinity="0" density="0" material="black"/>
|
| 13 |
+
</default>
|
| 14 |
+
<default class="collision">
|
| 15 |
+
<geom group="3" type="mesh"/>
|
| 16 |
+
</default>
|
| 17 |
+
</default>
|
| 18 |
+
<!-- <default class="sensor_unit">
|
| 19 |
+
<site size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 20 |
+
</default> -->
|
| 21 |
+
</default>
|
| 22 |
+
|
| 23 |
+
<asset>
|
| 24 |
+
<material name="black" rgba=".2 .2 .2 1"/>
|
| 25 |
+
|
| 26 |
+
<mesh file="../../meshes/leap_hand_sensor/palm_lower.stl"/>
|
| 27 |
+
<mesh file="../../meshes/leap_hand_sensor/mcp_joint.stl"/>
|
| 28 |
+
<mesh file="../../meshes/leap_hand_sensor/pip.stl"/>
|
| 29 |
+
<mesh file="../../meshes/leap_hand_sensor/dip.stl"/>
|
| 30 |
+
<mesh file="../../meshes/leap_hand_sensor/fingertip.stl"/>
|
| 31 |
+
<mesh file="../../meshes/leap_hand_sensor/thumb_pip.stl"/>
|
| 32 |
+
<mesh file="../../meshes/leap_hand_sensor/thumb_dip.stl"/>
|
| 33 |
+
<mesh file="../../meshes/leap_hand_sensor/thumb_fingertip.stl"/>
|
| 34 |
+
</asset>
|
| 35 |
+
|
| 36 |
+
<worldbody>
|
| 37 |
+
<light pos="0 0 2"/>
|
| 38 |
+
<body name="palm_lower" childclass="right_leap" pos="0 0 .2" quat="0 1 0 0">
|
| 39 |
+
<!-- <freejoint/> -->
|
| 40 |
+
<inertial pos="0 0 0" quat="0.497095 0.495942 -0.509424 0.497419" mass="0.237"
|
| 41 |
+
diaginertia="0.000529322 0.000354076 0.000260868"/>
|
| 42 |
+
<geom pos="-0.0200952 0.0257578 -0.0347224" quat="1 0 0 0" mesh="palm_lower" class="obj_visual"/>
|
| 43 |
+
<geom pos="-0.0200952 0.0257578 -0.0347224" quat="1 0 0 0" mesh="palm_lower" class="collision"/>
|
| 44 |
+
<body name="mcp_joint" pos="-0.00709525 0.0230578 -0.0187224" quat="1 1 1 -1">
|
| 45 |
+
<inertial pos="0 0 0" quat="0.388585 0.626468 -0.324549 0.592628" mass="0.044"
|
| 46 |
+
diaginertia="1.47756e-05 1.31982e-05 6.0802e-06"/>
|
| 47 |
+
<joint name="index_mcp_bend" range="-0.314 2.23" actuatorfrcrange="-5 5"/>
|
| 48 |
+
<geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="obj_visual"/>
|
| 49 |
+
<geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="collision"/>
|
| 50 |
+
<body name="pip" pos="-0.0122 0.0381 0.0145" quat="1 -1 -1 1">
|
| 51 |
+
<inertial pos="0 0 0" quat="0.709913 0.704273 -0.000363156 0.00475427" mass="0.032"
|
| 52 |
+
diaginertia="4.7981e-06 4.23406e-06 2.86184e-06"/>
|
| 53 |
+
<joint name="index_mcp_widen" range="-1.047 1.047" actuatorfrcrange="-5 5"/>
|
| 54 |
+
<geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="obj_visual"/>
|
| 55 |
+
<geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="collision"/>
|
| 56 |
+
<body name="dip" pos="0.015 0.0143 -0.013" quat="1 1 -1 1">
|
| 57 |
+
<inertial pos="0 0 0" quat="-0.252689 0.659216 0.238844 0.666735" mass="0.037"
|
| 58 |
+
diaginertia="6.68256e-06 6.24841e-06 5.02002e-06"/>
|
| 59 |
+
<joint name="index_pip" range="-0.506 1.885" actuatorfrcrange="-5 5"/>
|
| 60 |
+
<geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="obj_visual"/>
|
| 61 |
+
<geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="collision"/>
|
| 62 |
+
<body name="fingertip" pos="-4.08806e-09 -0.0361 0.0002">
|
| 63 |
+
<inertial pos="0 0 0" quat="0.706755 0.706755 0.0223155 0.0223155" mass="0.016"
|
| 64 |
+
diaginertia="3.37527e-06 2.863e-06 1.54873e-06"/>
|
| 65 |
+
<joint name="index_dip" range="-0.366 2.042" actuatorfrcrange="-5 5"/>
|
| 66 |
+
<geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="obj_visual"/>
|
| 67 |
+
<geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="collision"/>
|
| 68 |
+
<include file="index_sensor_array.xml"/>
|
| 69 |
+
</body>
|
| 70 |
+
</body>
|
| 71 |
+
</body>
|
| 72 |
+
</body>
|
| 73 |
+
<body name="mcp_joint_2" pos="-0.00709525 -0.0223922 -0.0187224" quat="1 1 1 -1">
|
| 74 |
+
<inertial pos="0 0 0" quat="0.388585 0.626468 -0.324549 0.592628" mass="0.044"
|
| 75 |
+
diaginertia="1.47756e-05 1.31982e-05 6.0802e-06"/>
|
| 76 |
+
<joint name="mid_mcp_bend" range="-0.314 2.23" actuatorfrcrange="-5 5"/>
|
| 77 |
+
<geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="obj_visual"/>
|
| 78 |
+
<geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="collision"/>
|
| 79 |
+
<body name="pip_2" pos="-0.0122 0.0381 0.0145" quat="1 -1 -1 1">
|
| 80 |
+
<inertial pos="0 0 0" quat="0.709913 0.704273 -0.000363156 0.00475427" mass="0.032"
|
| 81 |
+
diaginertia="4.7981e-06 4.23406e-06 2.86184e-06"/>
|
| 82 |
+
<joint name="mid_mcp_widen" range="-1.047 1.047" actuatorfrcrange="-5 5"/>
|
| 83 |
+
<geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="obj_visual"/>
|
| 84 |
+
<geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="collision"/>
|
| 85 |
+
<body name="dip_2" pos="0.015 0.0143 -0.013" quat="1 1 -1 1">
|
| 86 |
+
<inertial pos="0 0 0" quat="-0.252689 0.659216 0.238844 0.666735" mass="0.037"
|
| 87 |
+
diaginertia="6.68256e-06 6.24841e-06 5.02002e-06"/>
|
| 88 |
+
<joint name="mid_pip" range="-0.506 1.885" actuatorfrcrange="-5 5"/>
|
| 89 |
+
<geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="obj_visual"/>
|
| 90 |
+
<geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="collision"/>
|
| 91 |
+
<body name="fingertip_2" pos="0 -0.0361 0.0002">
|
| 92 |
+
<inertial pos="0 0 0" quat="0.706755 0.706755 0.0223155 0.0223155" mass="0.016"
|
| 93 |
+
diaginertia="3.37527e-06 2.863e-06 1.54873e-06"/>
|
| 94 |
+
<joint name="mid_dip" range="-0.366 2.042" actuatorfrcrange="-5 5"/>
|
| 95 |
+
<geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="obj_visual"/>
|
| 96 |
+
<geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="collision"/>
|
| 97 |
+
<include file="mid_sensor_array.xml"/>
|
| 98 |
+
</body>
|
| 99 |
+
</body>
|
| 100 |
+
</body>
|
| 101 |
+
</body>
|
| 102 |
+
<body name="mcp_joint_3" pos="-0.00709525 -0.0678422 -0.0187224" quat="1 1 1 -1">
|
| 103 |
+
<inertial pos="0 0 0" quat="0.388585 0.626468 -0.324549 0.592628" mass="0.044"
|
| 104 |
+
diaginertia="1.47756e-05 1.31982e-05 6.0802e-06"/>
|
| 105 |
+
<joint name="ring_mcp_bend" range="-0.314 2.23" actuatorfrcrange="-5 5"/>
|
| 106 |
+
<geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="obj_visual"/>
|
| 107 |
+
<geom pos="0.0084069 0.00776624 0.0146574" quat="1 0 0 0" mesh="mcp_joint" class="collision"/>
|
| 108 |
+
<body name="pip_3" pos="-0.0122 0.0381 0.0145" quat="1 -1 -1 1">
|
| 109 |
+
<inertial pos="0 0 0" quat="0.709913 0.704273 -0.000363156 0.00475427" mass="0.032"
|
| 110 |
+
diaginertia="4.7981e-06 4.23406e-06 2.86184e-06"/>
|
| 111 |
+
<joint name="ring_mcp_widen" range="-1.047 1.047" actuatorfrcrange="-5 5"/>
|
| 112 |
+
<geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="obj_visual"/>
|
| 113 |
+
<geom pos="0.00964336 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="collision"/>
|
| 114 |
+
<body name="dip_3" pos="0.015 0.0143 -0.013" quat="1 1 -1 1">
|
| 115 |
+
<inertial pos="0 0 0" quat="-0.252689 0.659216 0.238844 0.666735" mass="0.037"
|
| 116 |
+
diaginertia="6.68256e-06 6.24841e-06 5.02002e-06"/>
|
| 117 |
+
<joint name="ring_pip" range="-0.506 1.885" actuatorfrcrange="-5 5"/>
|
| 118 |
+
<geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="obj_visual"/>
|
| 119 |
+
<geom pos="0.0211334 -0.00843212 0.00978509" quat="0 -1 0 0" mesh="dip" class="collision"/>
|
| 120 |
+
<body name="fingertip_3" pos="0 -0.0361 0.0002">
|
| 121 |
+
<inertial pos="0 0 0" quat="0.706755 0.706755 0.0223155 0.0223155" mass="0.016"
|
| 122 |
+
diaginertia="3.37527e-06 2.863e-06 1.54873e-06"/>
|
| 123 |
+
<joint name="ring_dip" range="-0.366 2.042" actuatorfrcrange="-5 5"/>
|
| 124 |
+
<geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="obj_visual"/>
|
| 125 |
+
<geom pos="0.0132864 -0.00611424 0.0145" quat="0 1 0 0" mesh="fingertip" class="collision"/>
|
| 126 |
+
<include file="ring_sensor_array.xml"/>
|
| 127 |
+
</body>
|
| 128 |
+
</body>
|
| 129 |
+
</body>
|
| 130 |
+
</body>
|
| 131 |
+
<body name="pip_4" pos="-0.0693952 -0.00124224 -0.0216224" quat="1 0 1 0">
|
| 132 |
+
<inertial pos="0 0 0" quat="0.709913 0.704273 -0.000363156 0.00475427" mass="0.032"
|
| 133 |
+
diaginertia="4.7981e-06 4.23406e-06 2.86184e-06"/>
|
| 134 |
+
<joint name="thumb_mcp_range" range="-0.349 2.094" actuatorfrcrange="-5 5"/>
|
| 135 |
+
<geom pos="-0.00535664 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="obj_visual"/>
|
| 136 |
+
<geom pos="-0.00535664 0.0003 0.000784034" quat="1 -1 -1 -1" mesh="pip" class="collision"/>
|
| 137 |
+
<body name="thumb_pip" pos="0 0.0143 -0.013" quat="1 1 -1 1">
|
| 138 |
+
<inertial pos="0 0 0" mass="0.003" diaginertia="5.93e-07 5.49e-07 2.24e-07"/>
|
| 139 |
+
<joint name="thumb_mcp_rotate" range="-0.47 2.443" actuatorfrcrange="-5 5"/>
|
| 140 |
+
<geom pos="0.0119619 0 -0.0158526" quat="1 1 0 0" mesh="thumb_pip" class="obj_visual"/>
|
| 141 |
+
<geom pos="0.0119619 0 -0.0158526" quat="1 1 0 0" mesh="thumb_pip" class="collision"/>
|
| 142 |
+
<body name="thumb_dip" pos="0 0.0145 -0.017" quat="1 -1 0 0">
|
| 143 |
+
<inertial pos="0 0 0" quat="0.708624 0.704906 0.00637342 0.0303153" mass="0.038"
|
| 144 |
+
diaginertia="8.48742e-06 7.67823e-06 3.82835e-06"/>
|
| 145 |
+
<joint name="thumb_pip" range="-1.2 1.9" actuatorfrcrange="-5 5"/>
|
| 146 |
+
<geom pos="0.0439687 0.057953 -0.00862868" quat="1 0 0 0" mesh="thumb_dip" class="obj_visual"/>
|
| 147 |
+
<geom pos="0.0439687 0.057953 -0.00862868" quat="1 0 0 0" mesh="thumb_dip" class="collision"/>
|
| 148 |
+
<body name="thumb_fingertip" pos="0 0.0466 0.0002" quat="0 0 0 1">
|
| 149 |
+
<inertial pos="0 0 0" quat="0.704307 0.709299 0.006848 -0.0282727" mass="0.049"
|
| 150 |
+
diaginertia="2.03882e-05 1.98443e-05 4.32049e-06"/>
|
| 151 |
+
<joint name="thumb_dip" range="-1.34 1.88" actuatorfrcrange="-5 5"/>
|
| 152 |
+
<geom pos="0.0625595 0.0784597 0.0489929" quat="1 0 0 0" mesh="thumb_fingertip" class="obj_visual"/>
|
| 153 |
+
<geom pos="0.0625595 0.0784597 0.0489929" quat="1 0 0 0" mesh="thumb_fingertip" class="collision"/>
|
| 154 |
+
<include file="thumb_sensor_array.xml"/>
|
| 155 |
+
</body>
|
| 156 |
+
</body>
|
| 157 |
+
</body>
|
| 158 |
+
</body>
|
| 159 |
+
</body>
|
| 160 |
+
</worldbody>
|
| 161 |
+
|
| 162 |
+
<contact>
|
| 163 |
+
<exclude body1="palm_lower" body2="mcp_joint"/>
|
| 164 |
+
<exclude body1="palm_lower" body2="mcp_joint_2"/>
|
| 165 |
+
<exclude body1="palm_lower" body2="mcp_joint_3"/>
|
| 166 |
+
<exclude body1="palm_lower" body2="thumb_dip"/>
|
| 167 |
+
<exclude body1="palm_lower" body2="thumb_pip"/>
|
| 168 |
+
<exclude body1="palm_lower" body2="pip_4"/>
|
| 169 |
+
<exclude body1="mcp_joint" body2="dip"/>
|
| 170 |
+
<exclude body1="mcp_joint_3" body2="dip_3"/>
|
| 171 |
+
<exclude body1="mcp_joint_2" body2="dip_2"/>
|
| 172 |
+
</contact>
|
| 173 |
+
|
| 174 |
+
<actuator>
|
| 175 |
+
<position class="right_leap" name="index_mcp_bend" joint="index_mcp_bend" />
|
| 176 |
+
<position class="right_leap" name="index_mcp_widen" joint="index_mcp_widen" />
|
| 177 |
+
<position class="right_leap" name="index_pip" joint="index_pip" />
|
| 178 |
+
<position class="right_leap" name="index_dip" joint="index_dip" />
|
| 179 |
+
<position class="right_leap" name="mid_mcp_bend" joint="mid_mcp_bend" />
|
| 180 |
+
<position class="right_leap" name="mid_mcp_widen" joint="mid_mcp_widen" />
|
| 181 |
+
<position class="right_leap" name="mid_pip" joint="mid_pip" />
|
| 182 |
+
<position class="right_leap" name="mid_dip" joint="mid_dip" />
|
| 183 |
+
<position class="right_leap" name="ring_mcp_bend" joint="ring_mcp_bend" />
|
| 184 |
+
<position class="right_leap" name="ring_mcp_widen" joint="ring_mcp_widen" />
|
| 185 |
+
<position class="right_leap" name="ring_pip" joint="ring_pip" />
|
| 186 |
+
<position class="right_leap" name="ring_dip" joint="ring_dip" />
|
| 187 |
+
<position class="right_leap" name="thumb_mcp_range" joint="thumb_mcp_range" />
|
| 188 |
+
<position class="right_leap" name="thumb_mcp_rotate" joint="thumb_mcp_rotate" />
|
| 189 |
+
<position class="right_leap" name="thumb_pip" joint="thumb_pip" />
|
| 190 |
+
<position class="right_leap" name="thumb_dip" joint="thumb_dip" />
|
| 191 |
+
</actuator>
|
| 192 |
+
|
| 193 |
+
<sensor>
|
| 194 |
+
<include file="sensor_include.xml"/>
|
| 195 |
+
</sensor>
|
| 196 |
+
</mujoco>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/leaphand_sensor_env/mid_sensor_array.xml
ADDED
|
@@ -0,0 +1,66 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
| 1 |
+
<mujcocoinclude>
|
| 2 |
+
<geom name="mid_tip_geom_0_0" pos="-0.0115 -0.0425 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 3 |
+
<geom name="mid_tip_geom_0_1" pos="-0.0115 -0.0425 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 4 |
+
<geom name="mid_tip_geom_0_2" pos="-0.0115 -0.0425 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 5 |
+
<geom name="mid_tip_geom_0_3" pos="-0.0115 -0.0425 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 6 |
+
<geom name="mid_tip_geom_1_0" pos="-0.0115 -0.04 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 7 |
+
<geom name="mid_tip_geom_1_1" pos="-0.0115 -0.04 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 8 |
+
<geom name="mid_tip_geom_1_2" pos="-0.0115 -0.04 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 9 |
+
<geom name="mid_tip_geom_1_3" pos="-0.0115 -0.04 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 10 |
+
<geom name="mid_tip_geom_2_0" pos="-0.0115 -0.0375 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 11 |
+
<geom name="mid_tip_geom_2_1" pos="-0.0115 -0.0375 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 12 |
+
<geom name="mid_tip_geom_2_2" pos="-0.0115 -0.0375 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 13 |
+
<geom name="mid_tip_geom_2_3" pos="-0.0115 -0.0375 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 14 |
+
<geom name="mid_tip_geom_3_0" pos="-0.0115 -0.035 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 15 |
+
<geom name="mid_tip_geom_3_1" pos="-0.0115 -0.035 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 16 |
+
<geom name="mid_tip_geom_3_2" pos="-0.0115 -0.035 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 17 |
+
<geom name="mid_tip_geom_3_3" pos="-0.0115 -0.035 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 18 |
+
<geom name="mid_tip_geom_4_0" pos="-0.0115 -0.0325 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 19 |
+
<geom name="mid_tip_geom_4_1" pos="-0.0115 -0.0325 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 20 |
+
<geom name="mid_tip_geom_4_2" pos="-0.0115 -0.0325 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 21 |
+
<geom name="mid_tip_geom_4_3" pos="-0.0115 -0.0325 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 22 |
+
<geom name="mid_tip_geom_5_0" pos="-0.0115 -0.03 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 23 |
+
<geom name="mid_tip_geom_5_1" pos="-0.0115 -0.03 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 24 |
+
<geom name="mid_tip_geom_5_2" pos="-0.0115 -0.03 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 25 |
+
<geom name="mid_tip_geom_5_3" pos="-0.0115 -0.03 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 26 |
+
<geom name="mid_tip_geom_6_0" pos="-0.0115 -0.0275 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 27 |
+
<geom name="mid_tip_geom_6_1" pos="-0.0115 -0.0275 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 28 |
+
<geom name="mid_tip_geom_6_2" pos="-0.0115 -0.0275 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 29 |
+
<geom name="mid_tip_geom_6_3" pos="-0.0115 -0.0275 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 30 |
+
<geom name="mid_tip_geom_7_0" pos="-0.0115 -0.025 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 31 |
+
<geom name="mid_tip_geom_7_1" pos="-0.0115 -0.025 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 32 |
+
<geom name="mid_tip_geom_7_2" pos="-0.0115 -0.025 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 33 |
+
<geom name="mid_tip_geom_7_3" pos="-0.0115 -0.025 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 34 |
+
<site name="mid_tip_0_0" pos="-0.0115 -0.0425 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 35 |
+
<site name="mid_tip_0_1" pos="-0.0115 -0.0425 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 36 |
+
<site name="mid_tip_0_2" pos="-0.0115 -0.0425 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 37 |
+
<site name="mid_tip_0_3" pos="-0.0115 -0.0425 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 38 |
+
<site name="mid_tip_1_0" pos="-0.0115 -0.04 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 39 |
+
<site name="mid_tip_1_1" pos="-0.0115 -0.04 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 40 |
+
<site name="mid_tip_1_2" pos="-0.0115 -0.04 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 41 |
+
<site name="mid_tip_1_3" pos="-0.0115 -0.04 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 42 |
+
<site name="mid_tip_2_0" pos="-0.0115 -0.0375 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 43 |
+
<site name="mid_tip_2_1" pos="-0.0115 -0.0375 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 44 |
+
<site name="mid_tip_2_2" pos="-0.0115 -0.0375 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 45 |
+
<site name="mid_tip_2_3" pos="-0.0115 -0.0375 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 46 |
+
<site name="mid_tip_3_0" pos="-0.0115 -0.035 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 47 |
+
<site name="mid_tip_3_1" pos="-0.0115 -0.035 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 48 |
+
<site name="mid_tip_3_2" pos="-0.0115 -0.035 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 49 |
+
<site name="mid_tip_3_3" pos="-0.0115 -0.035 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 50 |
+
<site name="mid_tip_4_0" pos="-0.0115 -0.0325 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 51 |
+
<site name="mid_tip_4_1" pos="-0.0115 -0.0325 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 52 |
+
<site name="mid_tip_4_2" pos="-0.0115 -0.0325 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 53 |
+
<site name="mid_tip_4_3" pos="-0.0115 -0.0325 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 54 |
+
<site name="mid_tip_5_0" pos="-0.0115 -0.03 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 55 |
+
<site name="mid_tip_5_1" pos="-0.0115 -0.03 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 56 |
+
<site name="mid_tip_5_2" pos="-0.0115 -0.03 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 57 |
+
<site name="mid_tip_5_3" pos="-0.0115 -0.03 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 58 |
+
<site name="mid_tip_6_0" pos="-0.0115 -0.0275 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 59 |
+
<site name="mid_tip_6_1" pos="-0.0115 -0.0275 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 60 |
+
<site name="mid_tip_6_2" pos="-0.0115 -0.0275 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 61 |
+
<site name="mid_tip_6_3" pos="-0.0115 -0.0275 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 62 |
+
<site name="mid_tip_7_0" pos="-0.0115 -0.025 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 63 |
+
<site name="mid_tip_7_1" pos="-0.0115 -0.025 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 64 |
+
<site name="mid_tip_7_2" pos="-0.0115 -0.025 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 65 |
+
<site name="mid_tip_7_3" pos="-0.0115 -0.025 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 66 |
+
</mujcocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/leaphand_sensor_env/ring_sensor_array.xml
ADDED
|
@@ -0,0 +1,66 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujcocoinclude>
|
| 2 |
+
<geom name="ring_tip_geom_0_0" pos="-0.0115 -0.0425 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 3 |
+
<geom name="ring_tip_geom_0_1" pos="-0.0115 -0.0425 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 4 |
+
<geom name="ring_tip_geom_0_2" pos="-0.0115 -0.0425 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 5 |
+
<geom name="ring_tip_geom_0_3" pos="-0.0115 -0.0425 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 6 |
+
<geom name="ring_tip_geom_1_0" pos="-0.0115 -0.04 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 7 |
+
<geom name="ring_tip_geom_1_1" pos="-0.0115 -0.04 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 8 |
+
<geom name="ring_tip_geom_1_2" pos="-0.0115 -0.04 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 9 |
+
<geom name="ring_tip_geom_1_3" pos="-0.0115 -0.04 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 10 |
+
<geom name="ring_tip_geom_2_0" pos="-0.0115 -0.0375 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 11 |
+
<geom name="ring_tip_geom_2_1" pos="-0.0115 -0.0375 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 12 |
+
<geom name="ring_tip_geom_2_2" pos="-0.0115 -0.0375 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 13 |
+
<geom name="ring_tip_geom_2_3" pos="-0.0115 -0.0375 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 14 |
+
<geom name="ring_tip_geom_3_0" pos="-0.0115 -0.035 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 15 |
+
<geom name="ring_tip_geom_3_1" pos="-0.0115 -0.035 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 16 |
+
<geom name="ring_tip_geom_3_2" pos="-0.0115 -0.035 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 17 |
+
<geom name="ring_tip_geom_3_3" pos="-0.0115 -0.035 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 18 |
+
<geom name="ring_tip_geom_4_0" pos="-0.0115 -0.0325 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 19 |
+
<geom name="ring_tip_geom_4_1" pos="-0.0115 -0.0325 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 20 |
+
<geom name="ring_tip_geom_4_2" pos="-0.0115 -0.0325 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 21 |
+
<geom name="ring_tip_geom_4_3" pos="-0.0115 -0.0325 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 22 |
+
<geom name="ring_tip_geom_5_0" pos="-0.0115 -0.03 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 23 |
+
<geom name="ring_tip_geom_5_1" pos="-0.0115 -0.03 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 24 |
+
<geom name="ring_tip_geom_5_2" pos="-0.0115 -0.03 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 25 |
+
<geom name="ring_tip_geom_5_3" pos="-0.0115 -0.03 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 26 |
+
<geom name="ring_tip_geom_6_0" pos="-0.0115 -0.0275 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 27 |
+
<geom name="ring_tip_geom_6_1" pos="-0.0115 -0.0275 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 28 |
+
<geom name="ring_tip_geom_6_2" pos="-0.0115 -0.0275 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 29 |
+
<geom name="ring_tip_geom_6_3" pos="-0.0115 -0.0275 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 30 |
+
<geom name="ring_tip_geom_7_0" pos="-0.0115 -0.025 0.0181" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 31 |
+
<geom name="ring_tip_geom_7_1" pos="-0.0115 -0.025 0.0156" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 32 |
+
<geom name="ring_tip_geom_7_2" pos="-0.0115 -0.025 0.0131" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 33 |
+
<geom name="ring_tip_geom_7_3" pos="-0.0115 -0.025 0.0106" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 34 |
+
<site name="ring_tip_0_0" pos="-0.0115 -0.0425 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 35 |
+
<site name="ring_tip_0_1" pos="-0.0115 -0.0425 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 36 |
+
<site name="ring_tip_0_2" pos="-0.0115 -0.0425 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 37 |
+
<site name="ring_tip_0_3" pos="-0.0115 -0.0425 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 38 |
+
<site name="ring_tip_1_0" pos="-0.0115 -0.04 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 39 |
+
<site name="ring_tip_1_1" pos="-0.0115 -0.04 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 40 |
+
<site name="ring_tip_1_2" pos="-0.0115 -0.04 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 41 |
+
<site name="ring_tip_1_3" pos="-0.0115 -0.04 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 42 |
+
<site name="ring_tip_2_0" pos="-0.0115 -0.0375 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 43 |
+
<site name="ring_tip_2_1" pos="-0.0115 -0.0375 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 44 |
+
<site name="ring_tip_2_2" pos="-0.0115 -0.0375 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 45 |
+
<site name="ring_tip_2_3" pos="-0.0115 -0.0375 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 46 |
+
<site name="ring_tip_3_0" pos="-0.0115 -0.035 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 47 |
+
<site name="ring_tip_3_1" pos="-0.0115 -0.035 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 48 |
+
<site name="ring_tip_3_2" pos="-0.0115 -0.035 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 49 |
+
<site name="ring_tip_3_3" pos="-0.0115 -0.035 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 50 |
+
<site name="ring_tip_4_0" pos="-0.0115 -0.0325 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 51 |
+
<site name="ring_tip_4_1" pos="-0.0115 -0.0325 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 52 |
+
<site name="ring_tip_4_2" pos="-0.0115 -0.0325 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 53 |
+
<site name="ring_tip_4_3" pos="-0.0115 -0.0325 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 54 |
+
<site name="ring_tip_5_0" pos="-0.0115 -0.03 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 55 |
+
<site name="ring_tip_5_1" pos="-0.0115 -0.03 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 56 |
+
<site name="ring_tip_5_2" pos="-0.0115 -0.03 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 57 |
+
<site name="ring_tip_5_3" pos="-0.0115 -0.03 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 58 |
+
<site name="ring_tip_6_0" pos="-0.0115 -0.0275 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 59 |
+
<site name="ring_tip_6_1" pos="-0.0115 -0.0275 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 60 |
+
<site name="ring_tip_6_2" pos="-0.0115 -0.0275 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 61 |
+
<site name="ring_tip_6_3" pos="-0.0115 -0.0275 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 62 |
+
<site name="ring_tip_7_0" pos="-0.0115 -0.025 0.0181" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 63 |
+
<site name="ring_tip_7_1" pos="-0.0115 -0.025 0.0156" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 64 |
+
<site name="ring_tip_7_2" pos="-0.0115 -0.025 0.0131" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 65 |
+
<site name="ring_tip_7_3" pos="-0.0115 -0.025 0.0106" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 66 |
+
</mujcocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/leaphand_sensor_env/sensor_include.xml
ADDED
|
@@ -0,0 +1,130 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujocoinclude>
|
| 2 |
+
<touch name="thumb_tip_0_0" site="thumb_tip_0_0"/>
|
| 3 |
+
<touch name="thumb_tip_0_1" site="thumb_tip_0_1"/>
|
| 4 |
+
<touch name="thumb_tip_0_2" site="thumb_tip_0_2"/>
|
| 5 |
+
<touch name="thumb_tip_0_3" site="thumb_tip_0_3"/>
|
| 6 |
+
<touch name="thumb_tip_1_0" site="thumb_tip_1_0"/>
|
| 7 |
+
<touch name="thumb_tip_1_1" site="thumb_tip_1_1"/>
|
| 8 |
+
<touch name="thumb_tip_1_2" site="thumb_tip_1_2"/>
|
| 9 |
+
<touch name="thumb_tip_1_3" site="thumb_tip_1_3"/>
|
| 10 |
+
<touch name="thumb_tip_2_0" site="thumb_tip_2_0"/>
|
| 11 |
+
<touch name="thumb_tip_2_1" site="thumb_tip_2_1"/>
|
| 12 |
+
<touch name="thumb_tip_2_2" site="thumb_tip_2_2"/>
|
| 13 |
+
<touch name="thumb_tip_2_3" site="thumb_tip_2_3"/>
|
| 14 |
+
<touch name="thumb_tip_3_0" site="thumb_tip_3_0"/>
|
| 15 |
+
<touch name="thumb_tip_3_1" site="thumb_tip_3_1"/>
|
| 16 |
+
<touch name="thumb_tip_3_2" site="thumb_tip_3_2"/>
|
| 17 |
+
<touch name="thumb_tip_3_3" site="thumb_tip_3_3"/>
|
| 18 |
+
<touch name="thumb_tip_4_0" site="thumb_tip_4_0"/>
|
| 19 |
+
<touch name="thumb_tip_4_1" site="thumb_tip_4_1"/>
|
| 20 |
+
<touch name="thumb_tip_4_2" site="thumb_tip_4_2"/>
|
| 21 |
+
<touch name="thumb_tip_4_3" site="thumb_tip_4_3"/>
|
| 22 |
+
<touch name="thumb_tip_5_0" site="thumb_tip_5_0"/>
|
| 23 |
+
<touch name="thumb_tip_5_1" site="thumb_tip_5_1"/>
|
| 24 |
+
<touch name="thumb_tip_5_2" site="thumb_tip_5_2"/>
|
| 25 |
+
<touch name="thumb_tip_5_3" site="thumb_tip_5_3"/>
|
| 26 |
+
<touch name="thumb_tip_6_0" site="thumb_tip_6_0"/>
|
| 27 |
+
<touch name="thumb_tip_6_1" site="thumb_tip_6_1"/>
|
| 28 |
+
<touch name="thumb_tip_6_2" site="thumb_tip_6_2"/>
|
| 29 |
+
<touch name="thumb_tip_6_3" site="thumb_tip_6_3"/>
|
| 30 |
+
<touch name="thumb_tip_7_0" site="thumb_tip_7_0"/>
|
| 31 |
+
<touch name="thumb_tip_7_1" site="thumb_tip_7_1"/>
|
| 32 |
+
<touch name="thumb_tip_7_2" site="thumb_tip_7_2"/>
|
| 33 |
+
<touch name="thumb_tip_7_3" site="thumb_tip_7_3"/>
|
| 34 |
+
<touch name="index_tip_0_0" site="index_tip_0_0"/>
|
| 35 |
+
<touch name="index_tip_0_1" site="index_tip_0_1"/>
|
| 36 |
+
<touch name="index_tip_0_2" site="index_tip_0_2"/>
|
| 37 |
+
<touch name="index_tip_0_3" site="index_tip_0_3"/>
|
| 38 |
+
<touch name="index_tip_1_0" site="index_tip_1_0"/>
|
| 39 |
+
<touch name="index_tip_1_1" site="index_tip_1_1"/>
|
| 40 |
+
<touch name="index_tip_1_2" site="index_tip_1_2"/>
|
| 41 |
+
<touch name="index_tip_1_3" site="index_tip_1_3"/>
|
| 42 |
+
<touch name="index_tip_2_0" site="index_tip_2_0"/>
|
| 43 |
+
<touch name="index_tip_2_1" site="index_tip_2_1"/>
|
| 44 |
+
<touch name="index_tip_2_2" site="index_tip_2_2"/>
|
| 45 |
+
<touch name="index_tip_2_3" site="index_tip_2_3"/>
|
| 46 |
+
<touch name="index_tip_3_0" site="index_tip_3_0"/>
|
| 47 |
+
<touch name="index_tip_3_1" site="index_tip_3_1"/>
|
| 48 |
+
<touch name="index_tip_3_2" site="index_tip_3_2"/>
|
| 49 |
+
<touch name="index_tip_3_3" site="index_tip_3_3"/>
|
| 50 |
+
<touch name="index_tip_4_0" site="index_tip_4_0"/>
|
| 51 |
+
<touch name="index_tip_4_1" site="index_tip_4_1"/>
|
| 52 |
+
<touch name="index_tip_4_2" site="index_tip_4_2"/>
|
| 53 |
+
<touch name="index_tip_4_3" site="index_tip_4_3"/>
|
| 54 |
+
<touch name="index_tip_5_0" site="index_tip_5_0"/>
|
| 55 |
+
<touch name="index_tip_5_1" site="index_tip_5_1"/>
|
| 56 |
+
<touch name="index_tip_5_2" site="index_tip_5_2"/>
|
| 57 |
+
<touch name="index_tip_5_3" site="index_tip_5_3"/>
|
| 58 |
+
<touch name="index_tip_6_0" site="index_tip_6_0"/>
|
| 59 |
+
<touch name="index_tip_6_1" site="index_tip_6_1"/>
|
| 60 |
+
<touch name="index_tip_6_2" site="index_tip_6_2"/>
|
| 61 |
+
<touch name="index_tip_6_3" site="index_tip_6_3"/>
|
| 62 |
+
<touch name="index_tip_7_0" site="index_tip_7_0"/>
|
| 63 |
+
<touch name="index_tip_7_1" site="index_tip_7_1"/>
|
| 64 |
+
<touch name="index_tip_7_2" site="index_tip_7_2"/>
|
| 65 |
+
<touch name="index_tip_7_3" site="index_tip_7_3"/>
|
| 66 |
+
<touch name="mid_tip_0_0" site="mid_tip_0_0"/>
|
| 67 |
+
<touch name="mid_tip_0_1" site="mid_tip_0_1"/>
|
| 68 |
+
<touch name="mid_tip_0_2" site="mid_tip_0_2"/>
|
| 69 |
+
<touch name="mid_tip_0_3" site="mid_tip_0_3"/>
|
| 70 |
+
<touch name="mid_tip_1_0" site="mid_tip_1_0"/>
|
| 71 |
+
<touch name="mid_tip_1_1" site="mid_tip_1_1"/>
|
| 72 |
+
<touch name="mid_tip_1_2" site="mid_tip_1_2"/>
|
| 73 |
+
<touch name="mid_tip_1_3" site="mid_tip_1_3"/>
|
| 74 |
+
<touch name="mid_tip_2_0" site="mid_tip_2_0"/>
|
| 75 |
+
<touch name="mid_tip_2_1" site="mid_tip_2_1"/>
|
| 76 |
+
<touch name="mid_tip_2_2" site="mid_tip_2_2"/>
|
| 77 |
+
<touch name="mid_tip_2_3" site="mid_tip_2_3"/>
|
| 78 |
+
<touch name="mid_tip_3_0" site="mid_tip_3_0"/>
|
| 79 |
+
<touch name="mid_tip_3_1" site="mid_tip_3_1"/>
|
| 80 |
+
<touch name="mid_tip_3_2" site="mid_tip_3_2"/>
|
| 81 |
+
<touch name="mid_tip_3_3" site="mid_tip_3_3"/>
|
| 82 |
+
<touch name="mid_tip_4_0" site="mid_tip_4_0"/>
|
| 83 |
+
<touch name="mid_tip_4_1" site="mid_tip_4_1"/>
|
| 84 |
+
<touch name="mid_tip_4_2" site="mid_tip_4_2"/>
|
| 85 |
+
<touch name="mid_tip_4_3" site="mid_tip_4_3"/>
|
| 86 |
+
<touch name="mid_tip_5_0" site="mid_tip_5_0"/>
|
| 87 |
+
<touch name="mid_tip_5_1" site="mid_tip_5_1"/>
|
| 88 |
+
<touch name="mid_tip_5_2" site="mid_tip_5_2"/>
|
| 89 |
+
<touch name="mid_tip_5_3" site="mid_tip_5_3"/>
|
| 90 |
+
<touch name="mid_tip_6_0" site="mid_tip_6_0"/>
|
| 91 |
+
<touch name="mid_tip_6_1" site="mid_tip_6_1"/>
|
| 92 |
+
<touch name="mid_tip_6_2" site="mid_tip_6_2"/>
|
| 93 |
+
<touch name="mid_tip_6_3" site="mid_tip_6_3"/>
|
| 94 |
+
<touch name="mid_tip_7_0" site="mid_tip_7_0"/>
|
| 95 |
+
<touch name="mid_tip_7_1" site="mid_tip_7_1"/>
|
| 96 |
+
<touch name="mid_tip_7_2" site="mid_tip_7_2"/>
|
| 97 |
+
<touch name="mid_tip_7_3" site="mid_tip_7_3"/>
|
| 98 |
+
<touch name="ring_tip_0_0" site="ring_tip_0_0"/>
|
| 99 |
+
<touch name="ring_tip_0_1" site="ring_tip_0_1"/>
|
| 100 |
+
<touch name="ring_tip_0_2" site="ring_tip_0_2"/>
|
| 101 |
+
<touch name="ring_tip_0_3" site="ring_tip_0_3"/>
|
| 102 |
+
<touch name="ring_tip_1_0" site="ring_tip_1_0"/>
|
| 103 |
+
<touch name="ring_tip_1_1" site="ring_tip_1_1"/>
|
| 104 |
+
<touch name="ring_tip_1_2" site="ring_tip_1_2"/>
|
| 105 |
+
<touch name="ring_tip_1_3" site="ring_tip_1_3"/>
|
| 106 |
+
<touch name="ring_tip_2_0" site="ring_tip_2_0"/>
|
| 107 |
+
<touch name="ring_tip_2_1" site="ring_tip_2_1"/>
|
| 108 |
+
<touch name="ring_tip_2_2" site="ring_tip_2_2"/>
|
| 109 |
+
<touch name="ring_tip_2_3" site="ring_tip_2_3"/>
|
| 110 |
+
<touch name="ring_tip_3_0" site="ring_tip_3_0"/>
|
| 111 |
+
<touch name="ring_tip_3_1" site="ring_tip_3_1"/>
|
| 112 |
+
<touch name="ring_tip_3_2" site="ring_tip_3_2"/>
|
| 113 |
+
<touch name="ring_tip_3_3" site="ring_tip_3_3"/>
|
| 114 |
+
<touch name="ring_tip_4_0" site="ring_tip_4_0"/>
|
| 115 |
+
<touch name="ring_tip_4_1" site="ring_tip_4_1"/>
|
| 116 |
+
<touch name="ring_tip_4_2" site="ring_tip_4_2"/>
|
| 117 |
+
<touch name="ring_tip_4_3" site="ring_tip_4_3"/>
|
| 118 |
+
<touch name="ring_tip_5_0" site="ring_tip_5_0"/>
|
| 119 |
+
<touch name="ring_tip_5_1" site="ring_tip_5_1"/>
|
| 120 |
+
<touch name="ring_tip_5_2" site="ring_tip_5_2"/>
|
| 121 |
+
<touch name="ring_tip_5_3" site="ring_tip_5_3"/>
|
| 122 |
+
<touch name="ring_tip_6_0" site="ring_tip_6_0"/>
|
| 123 |
+
<touch name="ring_tip_6_1" site="ring_tip_6_1"/>
|
| 124 |
+
<touch name="ring_tip_6_2" site="ring_tip_6_2"/>
|
| 125 |
+
<touch name="ring_tip_6_3" site="ring_tip_6_3"/>
|
| 126 |
+
<touch name="ring_tip_7_0" site="ring_tip_7_0"/>
|
| 127 |
+
<touch name="ring_tip_7_1" site="ring_tip_7_1"/>
|
| 128 |
+
<touch name="ring_tip_7_2" site="ring_tip_7_2"/>
|
| 129 |
+
<touch name="ring_tip_7_3" site="ring_tip_7_3"/>
|
| 130 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dex_hand/leaphand_sensor_env/thumb_sensor_array.xml
ADDED
|
@@ -0,0 +1,66 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujcocoinclude>
|
| 2 |
+
<geom name="thumb_tip_geom_0_0" pos="-0.0115 -0.0555 -0.0105" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 3 |
+
<geom name="thumb_tip_geom_0_1" pos="-0.0115 -0.0555 -0.013" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 4 |
+
<geom name="thumb_tip_geom_0_2" pos="-0.0115 -0.0555 -0.0155" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 5 |
+
<geom name="thumb_tip_geom_0_3" pos="-0.0115 -0.0555 -0.018" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 6 |
+
<geom name="thumb_tip_geom_1_0" pos="-0.0115 -0.053 -0.0105" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 7 |
+
<geom name="thumb_tip_geom_1_1" pos="-0.0115 -0.053 -0.013" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 8 |
+
<geom name="thumb_tip_geom_1_2" pos="-0.0115 -0.053 -0.0155" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 9 |
+
<geom name="thumb_tip_geom_1_3" pos="-0.0115 -0.053 -0.018" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 10 |
+
<geom name="thumb_tip_geom_2_0" pos="-0.0115 -0.0505 -0.0105" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 11 |
+
<geom name="thumb_tip_geom_2_1" pos="-0.0115 -0.0505 -0.013" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 12 |
+
<geom name="thumb_tip_geom_2_2" pos="-0.0115 -0.0505 -0.0155" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 13 |
+
<geom name="thumb_tip_geom_2_3" pos="-0.0115 -0.0505 -0.018" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 14 |
+
<geom name="thumb_tip_geom_3_0" pos="-0.0115 -0.048 -0.0105" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 15 |
+
<geom name="thumb_tip_geom_3_1" pos="-0.0115 -0.048 -0.013" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 16 |
+
<geom name="thumb_tip_geom_3_2" pos="-0.0115 -0.048 -0.0155" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 17 |
+
<geom name="thumb_tip_geom_3_3" pos="-0.0115 -0.048 -0.018" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 18 |
+
<geom name="thumb_tip_geom_4_0" pos="-0.0115 -0.0455 -0.0105" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 19 |
+
<geom name="thumb_tip_geom_4_1" pos="-0.0115 -0.0455 -0.013" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 20 |
+
<geom name="thumb_tip_geom_4_2" pos="-0.0115 -0.0455 -0.0155" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 21 |
+
<geom name="thumb_tip_geom_4_3" pos="-0.0115 -0.0455 -0.018" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 22 |
+
<geom name="thumb_tip_geom_5_0" pos="-0.0115 -0.043 -0.0105" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 23 |
+
<geom name="thumb_tip_geom_5_1" pos="-0.0115 -0.043 -0.013" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 24 |
+
<geom name="thumb_tip_geom_5_2" pos="-0.0115 -0.043 -0.0155" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 25 |
+
<geom name="thumb_tip_geom_5_3" pos="-0.0115 -0.043 -0.018" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 26 |
+
<geom name="thumb_tip_geom_6_0" pos="-0.0115 -0.0405 -0.0105" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 27 |
+
<geom name="thumb_tip_geom_6_1" pos="-0.0115 -0.0405 -0.013" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 28 |
+
<geom name="thumb_tip_geom_6_2" pos="-0.0115 -0.0405 -0.0155" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 29 |
+
<geom name="thumb_tip_geom_6_3" pos="-0.0115 -0.0405 -0.018" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 30 |
+
<geom name="thumb_tip_geom_7_0" pos="-0.0115 -0.038 -0.0105" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 31 |
+
<geom name="thumb_tip_geom_7_1" pos="-0.0115 -0.038 -0.013" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 32 |
+
<geom name="thumb_tip_geom_7_2" pos="-0.0115 -0.038 -0.0155" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 33 |
+
<geom name="thumb_tip_geom_7_3" pos="-0.0115 -0.038 -0.018" size="0.0005 0.001 0.001" rgba="1 1 1 0" type="box"/>
|
| 34 |
+
<site name="thumb_tip_0_0" pos="-0.0115 -0.0555 -0.0105" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 35 |
+
<site name="thumb_tip_0_1" pos="-0.0115 -0.0555 -0.013" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 36 |
+
<site name="thumb_tip_0_2" pos="-0.0115 -0.0555 -0.0155" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 37 |
+
<site name="thumb_tip_0_3" pos="-0.0115 -0.0555 -0.018" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 38 |
+
<site name="thumb_tip_1_0" pos="-0.0115 -0.053 -0.0105" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 39 |
+
<site name="thumb_tip_1_1" pos="-0.0115 -0.053 -0.013" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 40 |
+
<site name="thumb_tip_1_2" pos="-0.0115 -0.053 -0.0155" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 41 |
+
<site name="thumb_tip_1_3" pos="-0.0115 -0.053 -0.018" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 42 |
+
<site name="thumb_tip_2_0" pos="-0.0115 -0.0505 -0.0105" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 43 |
+
<site name="thumb_tip_2_1" pos="-0.0115 -0.0505 -0.013" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 44 |
+
<site name="thumb_tip_2_2" pos="-0.0115 -0.0505 -0.0155" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 45 |
+
<site name="thumb_tip_2_3" pos="-0.0115 -0.0505 -0.018" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 46 |
+
<site name="thumb_tip_3_0" pos="-0.0115 -0.048 -0.0105" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 47 |
+
<site name="thumb_tip_3_1" pos="-0.0115 -0.048 -0.013" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 48 |
+
<site name="thumb_tip_3_2" pos="-0.0115 -0.048 -0.0155" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 49 |
+
<site name="thumb_tip_3_3" pos="-0.0115 -0.048 -0.018" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 50 |
+
<site name="thumb_tip_4_0" pos="-0.0115 -0.0455 -0.0105" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 51 |
+
<site name="thumb_tip_4_1" pos="-0.0115 -0.0455 -0.013" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 52 |
+
<site name="thumb_tip_4_2" pos="-0.0115 -0.0455 -0.0155" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 53 |
+
<site name="thumb_tip_4_3" pos="-0.0115 -0.0455 -0.018" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 54 |
+
<site name="thumb_tip_5_0" pos="-0.0115 -0.043 -0.0105" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 55 |
+
<site name="thumb_tip_5_1" pos="-0.0115 -0.043 -0.013" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 56 |
+
<site name="thumb_tip_5_2" pos="-0.0115 -0.043 -0.0155" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 57 |
+
<site name="thumb_tip_5_3" pos="-0.0115 -0.043 -0.018" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 58 |
+
<site name="thumb_tip_6_0" pos="-0.0115 -0.0405 -0.0105" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 59 |
+
<site name="thumb_tip_6_1" pos="-0.0115 -0.0405 -0.013" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 60 |
+
<site name="thumb_tip_6_2" pos="-0.0115 -0.0405 -0.0155" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 61 |
+
<site name="thumb_tip_6_3" pos="-0.0115 -0.0405 -0.018" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 62 |
+
<site name="thumb_tip_7_0" pos="-0.0115 -0.038 -0.0105" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 63 |
+
<site name="thumb_tip_7_1" pos="-0.0115 -0.038 -0.013" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 64 |
+
<site name="thumb_tip_7_2" pos="-0.0115 -0.038 -0.0155" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 65 |
+
<site name="thumb_tip_7_3" pos="-0.0115 -0.038 -0.018" size="0.0005 0.001 0.001" rgba="1 0 1 1" type="box"/>
|
| 66 |
+
</mujcocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/dummy_robot.xml
ADDED
|
@@ -0,0 +1,38 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="free_camera">
|
| 2 |
+
<option integrator="RK4" solver="Newton" gravity="0 0 0"/>
|
| 3 |
+
<compiler angle="radian" meshdir="../meshes" texturedir="../textures/"/>
|
| 4 |
+
|
| 5 |
+
<visual>
|
| 6 |
+
<global offwidth="1920" offheight="1080"/>
|
| 7 |
+
<quality shadowsize="4096" offsamples="4"/>
|
| 8 |
+
<headlight diffuse='0.6 0.6 0.6' ambient='.3 .3 .3' specular='0 0 0'/>
|
| 9 |
+
<scale com="0.05" camera="0.06" framelength="0.5" framewidth="0.02" forcewidth="0.1" contactwidth="0.01" contactheight="0.05"/>
|
| 10 |
+
</visual>
|
| 11 |
+
|
| 12 |
+
<asset>
|
| 13 |
+
<texture type='2d' name='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'/>
|
| 14 |
+
<material name='groundplane' texture='groundplane' texuniform='true' texrepeat='5 5' reflectance='0.2'/>
|
| 15 |
+
</asset>
|
| 16 |
+
|
| 17 |
+
<worldbody>
|
| 18 |
+
<light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='-1 -1 1' dir='1 1 -1'/>
|
| 19 |
+
<light directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 0 1' dir='-1 1 -1'/>
|
| 20 |
+
<light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 1 1' dir='0 -1 -1'/>
|
| 21 |
+
<geom name='floor' type='plane' size='0 0 0.01' material='groundplane' pos='0 0 0'/>
|
| 22 |
+
|
| 23 |
+
<body name="dummy_robot" pos="0 0 1">
|
| 24 |
+
<body euler="0 -1.5708 -1.5708">
|
| 25 |
+
<joint axis='-1 0 0' range="-1.5708 1.5708"/>
|
| 26 |
+
<inertial pos="0 0 0" mass="0.001" diaginertia="1e-5 1e-5 1e-5"/>
|
| 27 |
+
<camera name='_dummy_robot'/>
|
| 28 |
+
<site name="dummy_robot" euler="3.1416 0 0" size='0.001' type='sphere'/>
|
| 29 |
+
</body>
|
| 30 |
+
<geom type="box" size="0.1 0.1 0.1" rgba="1 1 1 0.1"/>
|
| 31 |
+
</body>
|
| 32 |
+
|
| 33 |
+
<geom type="box" pos="0.5 0 1" size="0.01 0.03 0.1" rgba="1 0 0 1"/>
|
| 34 |
+
|
| 35 |
+
|
| 36 |
+
</worldbody>
|
| 37 |
+
|
| 38 |
+
</mujoco>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/exhibition.xml
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
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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 |
+
<mujoco model="mmk2">
|
| 2 |
+
|
| 3 |
+
<include file="mmk2/mmk2_options.xml"/>
|
| 4 |
+
<include file="mmk2/mmk2_dependencies.xml"/>
|
| 5 |
+
|
| 6 |
+
<visual>
|
| 7 |
+
<global offwidth="1920" offheight="1080"/>
|
| 8 |
+
<quality shadowsize="4096" offsamples="4"/>
|
| 9 |
+
<headlight diffuse='0.6 0.6 0.6' ambient='.3 .3 .3' specular='0 0 0'/>
|
| 10 |
+
<scale com="0.05" camera="0.06" framelength="0.5" framewidth="0.02" forcewidth="0.1" contactwidth="0.01" contactheight="0.05"/>
|
| 11 |
+
</visual>
|
| 12 |
+
|
| 13 |
+
<asset>
|
| 14 |
+
<texture type='2d' name='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'/>
|
| 15 |
+
<material name='groundplane' texture='groundplane' texuniform='true' texrepeat='5 5' reflectance='0.2'/>
|
| 16 |
+
</asset>
|
| 17 |
+
|
| 18 |
+
<worldbody>
|
| 19 |
+
<light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='-1 -1 1' dir='1 1 -1'/>
|
| 20 |
+
<light directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 0 1' dir='-1 1 -1'/>
|
| 21 |
+
<light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 1 1' dir='0 -1 -1'/>
|
| 22 |
+
<geom name='floor' type='plane' size='0 0 0.01' material='groundplane' pos='0 0 0'/>
|
| 23 |
+
|
| 24 |
+
<body name='mmk2' pos="0 0 0">
|
| 25 |
+
<joint type="free" frictionloss="0.0001" />
|
| 26 |
+
<include file="mmk2/mmk2.xml"/>
|
| 27 |
+
</body>
|
| 28 |
+
|
| 29 |
+
<body name="red_box" pos="-0.7 -1.81 0.8">
|
| 30 |
+
<geom size="0.1 0.1 0.1" type="box" rgba="1 0 0 1"/>
|
| 31 |
+
</body>
|
| 32 |
+
|
| 33 |
+
<body name="table" pos="-1.17 -1.81 0">
|
| 34 |
+
<geom size="0.3 0.9 0.01" pos="0 0 0.7" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1 1 1 1"/>
|
| 35 |
+
<geom size="0.02 0.02 0.35" pos=" 0.85 0.25 0.35" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 36 |
+
<geom size="0.02 0.02 0.35" pos=" 0.85 -0.25 0.35" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 37 |
+
<geom size="0.02 0.02 0.35" pos=" 0.00 0.25 0.35" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 38 |
+
<geom size="0.02 0.02 0.35" pos=" 0.00 -0.25 0.35" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 39 |
+
<geom size="0.02 0.02 0.35" pos="-0.85 0.25 0.35" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 40 |
+
<geom size="0.02 0.02 0.35" pos="-0.85 -0.25 0.35" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 41 |
+
</body>
|
| 42 |
+
|
| 43 |
+
<body name="front_wall" pos="1.415 -0.03 0">
|
| 44 |
+
<geom size="1.0 0.44 0.015" pos="0 0.0 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 45 |
+
<geom size="1.0 0.44 0.015" pos="0 0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 46 |
+
<geom size="1.0 0.44 0.015" pos="0 -0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 47 |
+
<geom size="1.0 0.44 0.015" pos="0 -1.8 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 48 |
+
</body>
|
| 49 |
+
|
| 50 |
+
<body name="left_wall" pos="-0.03 1.415 0" euler="0 0 -1.5708">
|
| 51 |
+
<geom size="1.0 0.44 0.015" pos="0 0.0 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 52 |
+
<geom size="1.0 0.44 0.015" pos="0 0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 53 |
+
<geom size="1.0 0.44 0.015" pos="0 -0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 54 |
+
<geom size="1.0 0.44 0.015" pos="0 -1.8 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 55 |
+
<geom size="1.0 0.44 0.015" pos="0 -2.7 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 56 |
+
<geom size="1.0 0.44 0.015" pos="0 -3.6 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 57 |
+
</body>
|
| 58 |
+
|
| 59 |
+
<body name="cabinet_1" pos="0.36 1.22 0" euler="0 0 1.5708">
|
| 60 |
+
<geom size="0.15 0.01 1.015" pos="0 0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
|
| 61 |
+
<geom size="0.15 0.01 1.015" pos="0 -0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
|
| 62 |
+
<geom size="0.01 0.40 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
|
| 63 |
+
|
| 64 |
+
<geom size="0.15 0.4 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
|
| 65 |
+
<geom size="0.15 0.4 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
|
| 66 |
+
<geom size="0.15 0.4 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
|
| 67 |
+
<geom size="0.15 0.4 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
|
| 68 |
+
<geom size="0.15 0.4 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
|
| 69 |
+
<geom size="0.15 0.4 0.01" pos="0 0 1.69" type="box" rgba="0.9 0.9 0.9 1" />
|
| 70 |
+
<geom size="0.15 0.4 0.01" pos="0 0 2.02" type="box" rgba="0.9 0.9 0.9 1" />
|
| 71 |
+
</body>
|
| 72 |
+
|
| 73 |
+
<body name="cabinet_2" pos="1.03 1.03 0" euler="0 0 0.7854">
|
| 74 |
+
<geom size="0.15 0.01 1.015" pos="0 0.2 1.015" type="box" rgba="0.9 0.9 0.9 1" />
|
| 75 |
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<geom size="0.15 0.01 1.015" pos="0 -0.2 1.015" type="box" rgba="0.9 0.9 0.9 1" />
|
| 76 |
+
<geom size="0.01 0.20 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
|
| 77 |
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|
| 78 |
+
<geom size="0.15 0.2 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
|
| 79 |
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<geom size="0.15 0.2 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
|
| 80 |
+
<geom size="0.15 0.2 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
|
| 81 |
+
<geom size="0.15 0.2 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
|
| 82 |
+
<geom size="0.15 0.2 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
|
| 83 |
+
<geom size="0.15 0.2 0.01" pos="0 0 1.69" type="box" rgba="0.9 0.9 0.9 1" />
|
| 84 |
+
<geom size="0.15 0.2 0.01" pos="0 0 2.02" type="box" rgba="0.9 0.9 0.9 1" />
|
| 85 |
+
</body>
|
| 86 |
+
|
| 87 |
+
<body name="cabinet_3" pos="1.22 0.36 0">
|
| 88 |
+
<geom size="0.15 0.01 1.015" pos="0 0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
|
| 89 |
+
<geom size="0.15 0.01 1.015" pos="0 -0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
|
| 90 |
+
<geom size="0.01 0.40 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
|
| 91 |
+
|
| 92 |
+
<geom size="0.15 0.4 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
|
| 93 |
+
<geom size="0.15 0.4 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
|
| 94 |
+
<geom size="0.15 0.4 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
|
| 95 |
+
<geom size="0.15 0.4 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
|
| 96 |
+
<geom size="0.15 0.4 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
|
| 97 |
+
<geom size="0.15 0.4 0.01" pos="0 0 1.69" type="box" rgba="0.9 0.9 0.9 1" />
|
| 98 |
+
<geom size="0.15 0.4 0.01" pos="0 0 2.02" type="box" rgba="0.9 0.9 0.9 1" />
|
| 99 |
+
</body>
|
| 100 |
+
|
| 101 |
+
</worldbody>
|
| 102 |
+
|
| 103 |
+
<actuator>
|
| 104 |
+
<include file="mmk2/mmk2_control.xml"/>
|
| 105 |
+
</actuator>
|
| 106 |
+
|
| 107 |
+
<sensor>
|
| 108 |
+
<include file="mmk2/mmk2_sensor.xml"/>
|
| 109 |
+
</sensor>
|
| 110 |
+
|
| 111 |
+
<keyframe>
|
| 112 |
+
<key name="home" qpos='0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0'/>
|
| 113 |
+
<key name="front_table" qpos='
|
| 114 |
+
-1.15 -1.1 0.00145442
|
| 115 |
+
0.7071 0 0 -0.7071
|
| 116 |
+
0 0
|
| 117 |
+
0.45 0 0
|
| 118 |
+
0 -1.9 2.7 0 0 0 0 0
|
| 119 |
+
0 -1.9 2.7 0 0 0 0 0'/>
|
| 120 |
+
</keyframe>
|
| 121 |
+
|
| 122 |
+
</mujoco>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/exhibition_conference.xml
ADDED
|
@@ -0,0 +1,486 @@
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|
| 1 |
+
<mujoco model="mmk2">
|
| 2 |
+
|
| 3 |
+
<include file="mmk2/mmk2_options.xml"/>
|
| 4 |
+
<include file="mmk2/mmk2_dependencies.xml"/>
|
| 5 |
+
|
| 6 |
+
<visual>
|
| 7 |
+
<global offwidth="1920" offheight="1080"/>
|
| 8 |
+
<quality shadowsize="4096" offsamples="4"/>
|
| 9 |
+
<headlight diffuse='0.6 0.6 0.6' ambient='.3 .3 .3' specular='0 0 0'/>
|
| 10 |
+
<scale com="0.05" camera="0.06" framelength="0.5" framewidth="0.02" forcewidth="0.1" contactwidth="0.01" contactheight="0.05"/>
|
| 11 |
+
</visual>
|
| 12 |
+
|
| 13 |
+
<asset>
|
| 14 |
+
<texture type='2d' name='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'/>
|
| 15 |
+
<material name='groundplane' texture='groundplane' texuniform='true' texrepeat='5 5' reflectance='0.2'/>
|
| 16 |
+
|
| 17 |
+
<texture name="aruco_000" rgb1="0 0 0" gridsize="1 1" gridlayout="U" file="aruco/000.png"/>
|
| 18 |
+
<material name="aruco_000" texture="aruco_000"/>
|
| 19 |
+
<texture name="aruco_001" rgb1="0 0 0" gridsize="1 1" gridlayout="U" file="aruco/001.png"/>
|
| 20 |
+
<material name="aruco_001" texture="aruco_001"/>
|
| 21 |
+
<texture name="aruco_002" rgb1="0 0 0" gridsize="1 1" gridlayout="U" file="aruco/002.png"/>
|
| 22 |
+
<material name="aruco_002" texture="aruco_002"/>
|
| 23 |
+
|
| 24 |
+
<texture name="white_airbot_logo" rgb1="0 0 0" gridsize="1 1" gridlayout="U" file="logo/white_airbot.png"/>
|
| 25 |
+
<material name="white_airbot_logo" texture="white_airbot_logo"/>
|
| 26 |
+
</asset>
|
| 27 |
+
|
| 28 |
+
<worldbody>
|
| 29 |
+
<light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='-1 -1 1' dir='1 1 -1'/>
|
| 30 |
+
<light directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 0 1' dir='-1 1 -1'/>
|
| 31 |
+
<light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 1 1' dir='0 -1 -1'/>
|
| 32 |
+
<geom name='floor' type='plane' size='0 0 0.01' material='groundplane' pos='0 0 0'/>
|
| 33 |
+
|
| 34 |
+
<body name='mmk2' pos="0 0 0">
|
| 35 |
+
<joint type="free" frictionloss="0.0001" />
|
| 36 |
+
<include file="mmk2/mmk2.xml"/>
|
| 37 |
+
</body>
|
| 38 |
+
|
| 39 |
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| 40 |
+
<geom size="0.3 0.9 0.01" pos="0 0 0.74" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1 1 1 0.5"/>
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| 47 |
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</body> -->
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| 48 |
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<geom material="aruco_000" size="0.02 0.02 0.001" type="box" contype="0" conaffinity="0"/>
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<body name="box_001" pos="0 0.015 -0.115" euler="-1.5708 0 1.5708">
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<site name="box_001" size='0.001' type='sphere'/>
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</body>
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<body name="aruco_head_001" pos="-1 0.2 -0.3">
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<geom material="aruco_001" size="0.02 0.02 0.001" type="box" contype="0" conaffinity="0"/>
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<body name="box_002" pos="0 0.015 -0.115" euler="-1.5708 0 1.5708">
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<site name="box_002" size='0.001' type='sphere'/>
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</body>
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<body euler="0 0 -1.5708">
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<body name="box_001" pos="0 0.09 -0.048" euler="0 0 1.5708">
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<site name="box_001" size='0.001' type='sphere'/>
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</body>
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<body euler="0 0 -1.5708">
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| 110 |
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| 111 |
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| 119 |
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</body>
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| 120 |
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</body>
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</body>
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| 123 |
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<body name="white_airbot_logo_003" pos="-1 0.4 1">
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| 124 |
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<body euler="0 0 -1.5708">
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| 125 |
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<geom material="white_airbot_logo" size="0.03 0.01 0.0001" type="box" contype="0" conaffinity="0"/>
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| 126 |
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<body name="box_003" pos="0 0.09 -0.048" euler="0 0 1.5708">
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| 127 |
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<site name="box_003" size='0.001' type='sphere'/>
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| 128 |
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</body>
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</body>
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| 158 |
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| 159 |
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| 167 |
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</body>
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| 171 |
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| 172 |
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| 208 |
+
<geom size="0.11 0.075 0.0003" pos="0 0 0.047" type="box" contype="0" conaffinity="0" rgba="0.1 0.1 0.1 1" />
|
| 209 |
+
<geom size="0.111 0.076 0.05" pos="0 0 -0.0035" type="box" contype="0" conaffinity="0" rgba="0.9 0.9 0.9 1" />
|
| 210 |
+
<geom size="0.001 0.076 0.025" pos="0.11 0 0.0725" type="box" contype="0" conaffinity="0" rgba="0.9 0.9 0.9 1" />
|
| 211 |
+
<geom size="0.07 0.001 0.025" pos="0.04 0.075 0.0725" type="box" contype="0" conaffinity="0" rgba="0.9 0.9 0.9 1" />
|
| 212 |
+
<geom size="0.07 0.001 0.025" pos="0.04 -0.075 0.0725" type="box" contype="0" conaffinity="0" rgba="0.9 0.9 0.9 1" />
|
| 213 |
+
<geom size="0.0475 0.001 0.022" pos="-0.059 0.075 0.0535" euler="0 -0.5586 0" type="box" contype="0" conaffinity="0" rgba="0.9 0.9 0.9 1" />
|
| 214 |
+
<geom size="0.0475 0.001 0.022" pos="-0.059 -0.075 0.0535" euler="0 -0.5586 0" type="box" contype="0" conaffinity="0" rgba="0.9 0.9 0.9 1" />
|
| 215 |
+
</body>
|
| 216 |
+
</body>
|
| 217 |
+
</body>
|
| 218 |
+
|
| 219 |
+
<body name="blue_circle_001" pos="1.3 0 1">
|
| 220 |
+
<geom type="cylinder" euler="0 -1.5708 0" size="0.018 0.001" rgba="0 0.7 0.9 1"/>
|
| 221 |
+
<geom type="cylinder" euler="0 -1.5708 0" size="0.015 0.001" pos="0.0002 0 0" rgba="1 1 1 0.8"/>
|
| 222 |
+
<geom type="cylinder" euler="0 -1.5708 0" size="0.015 0.001" pos="-0.0002 0 0" rgba="1 1 1 0.8"/>
|
| 223 |
+
</body>
|
| 224 |
+
|
| 225 |
+
<body name="blue_circle_002" pos="1.3 0.05 1">
|
| 226 |
+
<geom type="cylinder" euler="0 -1.5708 0" size="0.018 0.001" rgba="0 0.7 0.9 1"/>
|
| 227 |
+
<geom type="cylinder" euler="0 -1.5708 0" size="0.015 0.001" pos="0.0002 0 0" rgba="1 1 1 0.8"/>
|
| 228 |
+
<geom type="cylinder" euler="0 -1.5708 0" size="0.015 0.001" pos="-0.0002 0 0" rgba="1 1 1 0.8"/>
|
| 229 |
+
</body>
|
| 230 |
+
|
| 231 |
+
<body name="blue_circle_003" pos="1.3 0.1 1">
|
| 232 |
+
<geom type="cylinder" euler="0 -1.5708 0" size="0.018 0.001" rgba="0 0.7 0.9 1"/>
|
| 233 |
+
<geom type="cylinder" euler="0 -1.5708 0" size="0.015 0.001" pos="0.0002 0 0" rgba="1 1 1 0.8"/>
|
| 234 |
+
<geom type="cylinder" euler="0 -1.5708 0" size="0.015 0.001" pos="-0.0002 0 0" rgba="1 1 1 0.8"/>
|
| 235 |
+
</body>
|
| 236 |
+
|
| 237 |
+
<body name="blue_circle_004" pos="1.3 0.15 1">
|
| 238 |
+
<geom type="cylinder" euler="0 -1.5708 0" size="0.018 0.001" rgba="0 0.7 0.9 1"/>
|
| 239 |
+
<geom type="cylinder" euler="0 -1.5708 0" size="0.015 0.001" pos="0.0002 0 0" rgba="1 1 1 0.8"/>
|
| 240 |
+
<geom type="cylinder" euler="0 -1.5708 0" size="0.015 0.001" pos="-0.0002 0 0" rgba="1 1 1 0.8"/>
|
| 241 |
+
</body>
|
| 242 |
+
|
| 243 |
+
<body name="blue_circle_005" pos="1.3 0.2 1">
|
| 244 |
+
<geom type="cylinder" euler="0 -1.5708 0" size="0.018 0.001" rgba="0 0.7 0.9 1"/>
|
| 245 |
+
<geom type="cylinder" euler="0 -1.5708 0" size="0.015 0.001" pos="0.0002 0 0" rgba="1 1 1 0.8"/>
|
| 246 |
+
<geom type="cylinder" euler="0 -1.5708 0" size="0.015 0.001" pos="-0.0002 0 0" rgba="1 1 1 0.8"/>
|
| 247 |
+
</body>
|
| 248 |
+
|
| 249 |
+
<body name="blue_circle_006" pos="1.3 0.25 1">
|
| 250 |
+
<geom type="cylinder" euler="0 -1.5708 0" size="0.018 0.001" rgba="0 0.7 0.9 1"/>
|
| 251 |
+
<geom type="cylinder" euler="0 -1.5708 0" size="0.015 0.001" pos="0.0002 0 0" rgba="1 1 1 0.8"/>
|
| 252 |
+
<geom type="cylinder" euler="0 -1.5708 0" size="0.015 0.001" pos="-0.0002 0 0" rgba="1 1 1 0.8"/>
|
| 253 |
+
</body>
|
| 254 |
+
|
| 255 |
+
<body name="aruco_left_000" pos="0 0 -0.1">
|
| 256 |
+
<geom material="aruco_000" size="0.02 0.02 0.001" type="box" contype="0" conaffinity="0"/>
|
| 257 |
+
</body>
|
| 258 |
+
<body name="aruco_left_001" pos="0.5 0 -0.1">
|
| 259 |
+
<geom material="aruco_001" size="0.02 0.02 0.001" type="box" contype="0" conaffinity="0"/>
|
| 260 |
+
</body>
|
| 261 |
+
<body name="aruco_left_002" pos="0 0.5 -0.1">
|
| 262 |
+
<geom material="aruco_002" size="0.02 0.02 0.001" type="box" contype="0" conaffinity="0"/>
|
| 263 |
+
</body>
|
| 264 |
+
|
| 265 |
+
<body name="aruco_right_000" pos="0 0 -0.1">
|
| 266 |
+
<geom material="aruco_000" size="0.02 0.02 0.001" type="box" contype="0" conaffinity="0"/>
|
| 267 |
+
</body>
|
| 268 |
+
<body name="aruco_right_001" pos="0.05 0 -0.1">
|
| 269 |
+
<geom material="aruco_001" size="0.02 0.02 0.001" type="box" contype="0" conaffinity="0"/>
|
| 270 |
+
</body>
|
| 271 |
+
<body name="aruco_right_002" pos="0 0.05 -0.1">
|
| 272 |
+
<geom material="aruco_002" size="0.02 0.02 0.001" type="box" contype="0" conaffinity="0"/>
|
| 273 |
+
</body>
|
| 274 |
+
|
| 275 |
+
<body name="p1_01" pos="0.6 0 0" euler="0 0 0">
|
| 276 |
+
<geom size="0.023 0.0475 0.07" type="box" contype="0" conaffinity="0" rgba="0.75 0.75 0.75 1" />
|
| 277 |
+
</body>
|
| 278 |
+
|
| 279 |
+
<body name="p1_02" pos="0.7 0 0" euler="0 0 0">
|
| 280 |
+
<geom size="0.023 0.0475 0.07" type="box" contype="0" conaffinity="0" rgba="0.75 0.75 0.75 1" />
|
| 281 |
+
</body>
|
| 282 |
+
|
| 283 |
+
<body name="p2_01" pos="0.9 0 0">
|
| 284 |
+
<geom size="0.05 0.002" euler="0 1.5708 0" type="cylinder" contype="0" conaffinity="0" rgba="0.0 0.5 0.5 1" />
|
| 285 |
+
</body>
|
| 286 |
+
|
| 287 |
+
<body name="p2_02" pos="0.9 0.1 0">
|
| 288 |
+
<geom size="0.05 0.002" euler="0 1.5708 0" type="cylinder" contype="0" conaffinity="0" rgba="0.0 0.5 0.5 1" />
|
| 289 |
+
</body>
|
| 290 |
+
|
| 291 |
+
<body name="p2_03" pos="0.95 0 0">
|
| 292 |
+
<geom size="0.05 0.002" euler="0 1.5708 0" type="cylinder" contype="0" conaffinity="0" rgba="0.0 0.5 0.5 1" />
|
| 293 |
+
</body>
|
| 294 |
+
|
| 295 |
+
<body name="p2_04" pos="0.95 0.1 0">
|
| 296 |
+
<geom size="0.05 0.002" euler="0 1.5708 0" type="cylinder" contype="0" conaffinity="0" rgba="0.0 0.5 0.5 1" />
|
| 297 |
+
</body>
|
| 298 |
+
|
| 299 |
+
|
| 300 |
+
<body name="p3_01" pos="1 0 0" euler="0 0 0">
|
| 301 |
+
<geom size="0.0025 0.03 0.04" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 302 |
+
</body>
|
| 303 |
+
|
| 304 |
+
<body name="p3_02" pos="1 0.1 0" euler="0 0 0">
|
| 305 |
+
<geom size="0.0025 0.03 0.04" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 306 |
+
</body>
|
| 307 |
+
|
| 308 |
+
<body name="p3_03" pos="1.05 0 0" euler="0 0 0">
|
| 309 |
+
<geom size="0.0025 0.03 0.04" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 310 |
+
</body>
|
| 311 |
+
|
| 312 |
+
<body name="p3_04" pos="1.05 0.1 0" euler="0 0 0">
|
| 313 |
+
<geom size="0.0025 0.03 0.04" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 314 |
+
</body>
|
| 315 |
+
|
| 316 |
+
<body name="p3_05" pos="1.1 0 0" euler="0 0 0">
|
| 317 |
+
<geom size="0.0025 0.03 0.04" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 318 |
+
</body>
|
| 319 |
+
|
| 320 |
+
<body name="p3_06" pos="1.1 0.1 0" euler="0 0 0">
|
| 321 |
+
<geom size="0.0025 0.03 0.04" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 322 |
+
</body>
|
| 323 |
+
|
| 324 |
+
<body name="p3_07" pos="1.15 0 0" euler="0 0 0">
|
| 325 |
+
<geom size="0.0025 0.03 0.04" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 326 |
+
</body>
|
| 327 |
+
|
| 328 |
+
<body name="p3_08" pos="1.15 0.1 0" euler="0 0 0">
|
| 329 |
+
<geom size="0.0025 0.03 0.04" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 330 |
+
</body>
|
| 331 |
+
|
| 332 |
+
<!-- 场景 -->
|
| 333 |
+
<body name="table_60_120" pos="0.75 -1.21 0">
|
| 334 |
+
<geom size="0.3 0.6 0.01" pos="0 0 0.74" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1 1 1 1"/>
|
| 335 |
+
<geom size="0.02 0.02 0.37" pos=" 0.55 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 336 |
+
<geom size="0.02 0.02 0.37" pos=" 0.55 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 337 |
+
<geom size="0.02 0.02 0.37" pos="-0.55 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 338 |
+
<geom size="0.02 0.02 0.37" pos="-0.55 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 339 |
+
</body>
|
| 340 |
+
|
| 341 |
+
<body name="table_60_180" pos="-1. -1.21 0">
|
| 342 |
+
<geom size="0.3 0.9 0.01" pos="0 0 0.74" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1 1 1 1"/>
|
| 343 |
+
<geom size="0.02 0.02 0.37" pos=" 0.85 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 344 |
+
<geom size="0.02 0.02 0.37" pos=" 0.85 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 345 |
+
<geom size="0.02 0.02 0.37" pos=" 0.00 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 346 |
+
<geom size="0.02 0.02 0.37" pos=" 0.00 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 347 |
+
<geom size="0.02 0.02 0.37" pos="-0.85 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 348 |
+
<geom size="0.02 0.02 0.37" pos="-0.85 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 349 |
+
</body>
|
| 350 |
+
|
| 351 |
+
<body name="table_80_160" pos="-1.2 -0.11 0" euler="0 0 -1.5708">
|
| 352 |
+
<geom size="0.4 0.8 0.01" pos="0 0 0.74" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1 1 1 1"/>
|
| 353 |
+
<geom size="0.02 0.02 0.37" pos=" 0.75 0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 354 |
+
<geom size="0.02 0.02 0.37" pos=" 0.75 -0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 355 |
+
<geom size="0.02 0.02 0.37" pos="-0.75 0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 356 |
+
<geom size="0.02 0.02 0.37" pos="-0.75 -0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 357 |
+
</body>
|
| 358 |
+
|
| 359 |
+
<body name="displayer" pos="-1.1 1.1 0">
|
| 360 |
+
<geom size="0.7 0.015 0.4" pos="0 0 1.4" type="box" rgba=".1 .1 .1 1"/>
|
| 361 |
+
</body>
|
| 362 |
+
|
| 363 |
+
<body name="front_wall" pos="1.415 -0.03 0">
|
| 364 |
+
<geom size="1.0 0.44 0.015" pos="0 0.0 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 365 |
+
<geom size="1.0 0.44 0.015" pos="0 0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 366 |
+
<geom size="1.0 0.44 0.015" pos="0 -0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 367 |
+
<geom size="1.0 0.44 0.015" pos="0 -1.8 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 368 |
+
</body>
|
| 369 |
+
|
| 370 |
+
<body name="left_wall" pos="-0.03 1.415 0" euler="0 0 -1.5708">
|
| 371 |
+
<geom size="1.0 0.44 0.015" pos="0 0.0 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 372 |
+
<geom size="1.0 0.44 0.015" pos="0 0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 373 |
+
<geom size="1.0 0.44 0.015" pos="0 -0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 374 |
+
<geom size="1.0 0.44 0.015" pos="0 -1.8 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 375 |
+
<geom size="1.0 0.44 0.015" pos="0 -2.7 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 376 |
+
<geom size="1.0 0.44 0.015" pos="0 -3.6 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 377 |
+
</body>
|
| 378 |
+
|
| 379 |
+
<!-- <body name="cabinet_1" pos="0.36 1.22 0" euler="0 0 1.5708"> -->
|
| 380 |
+
<body name="cabinet_1" pos="0.665 1.22 0" euler="0 0 1.5708">
|
| 381 |
+
<geom size="0.15 0.01 1.015" pos="0 0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
|
| 382 |
+
<geom size="0.15 0.01 1.015" pos="0 -0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
|
| 383 |
+
<geom size="0.01 0.40 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
|
| 384 |
+
|
| 385 |
+
<geom size="0.15 0.4 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
|
| 386 |
+
<geom size="0.15 0.4 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
|
| 387 |
+
<geom size="0.15 0.4 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
|
| 388 |
+
<geom size="0.15 0.4 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
|
| 389 |
+
<geom size="0.15 0.4 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
|
| 390 |
+
<geom size="0.15 0.4 0.01" pos="0 0 1.69" type="box" rgba="0.9 0.9 0.9 1" />
|
| 391 |
+
<geom size="0.15 0.4 0.01" pos="0 0 2.02" type="box" rgba="0.9 0.9 0.9 1" />
|
| 392 |
+
</body>
|
| 393 |
+
|
| 394 |
+
<!-- <body name="cabinet_2" pos="1.03 1.03 0" euler="0 0 0.7854"> -->
|
| 395 |
+
<body name="cabinet_2" pos="1.23 0.86 0" euler="0 0 0">
|
| 396 |
+
<geom size="0.15 0.01 1.015" pos="0 0.2 1.015" type="box" rgba="0.9 0.9 0.9 1" />
|
| 397 |
+
<geom size="0.15 0.01 1.015" pos="0 -0.2 1.015" type="box" rgba="0.9 0.9 0.9 1" />
|
| 398 |
+
<geom size="0.01 0.20 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
|
| 399 |
+
|
| 400 |
+
<geom size="0.15 0.2 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
|
| 401 |
+
<geom size="0.15 0.2 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
|
| 402 |
+
<geom size="0.15 0.2 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
|
| 403 |
+
<geom size="0.15 0.2 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
|
| 404 |
+
<geom size="0.15 0.2 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
|
| 405 |
+
<geom size="0.15 0.2 0.01" pos="0 0 1.69" type="box" rgba="0.9 0.9 0.9 1" />
|
| 406 |
+
<geom size="0.15 0.2 0.01" pos="0 0 2.02" type="box" rgba="0.9 0.9 0.9 1" />
|
| 407 |
+
</body>
|
| 408 |
+
|
| 409 |
+
<!-- <body name="cabinet_3" pos="1.22 0.36 0"> -->
|
| 410 |
+
<body name="cabinet_3" pos="1.23 0.238 0">
|
| 411 |
+
<geom size="0.15 0.01 1.015" pos="0 0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
|
| 412 |
+
<geom size="0.15 0.01 1.015" pos="0 -0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
|
| 413 |
+
<geom size="0.01 0.40 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
|
| 414 |
+
|
| 415 |
+
<geom size="0.15 0.4 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
|
| 416 |
+
<geom size="0.15 0.4 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
|
| 417 |
+
<geom size="0.15 0.4 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
|
| 418 |
+
<geom size="0.15 0.4 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
|
| 419 |
+
<geom size="0.15 0.4 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
|
| 420 |
+
<geom size="0.15 0.4 0.01" pos="0 0 1.69" type="box" rgba="0.9 0.9 0.9 1" />
|
| 421 |
+
<geom size="0.15 0.4 0.01" pos="0 0 2.02" type="box" rgba="0.9 0.9 0.9 1" />
|
| 422 |
+
</body>
|
| 423 |
+
</worldbody>
|
| 424 |
+
|
| 425 |
+
<actuator>
|
| 426 |
+
<include file="mmk2/mmk2_control.xml"/>
|
| 427 |
+
</actuator>
|
| 428 |
+
|
| 429 |
+
<sensor>
|
| 430 |
+
<include file="mmk2/mmk2_sensor.xml"/>
|
| 431 |
+
</sensor>
|
| 432 |
+
|
| 433 |
+
<keyframe>
|
| 434 |
+
<!-- base position -->
|
| 435 |
+
<!-- base quat -->
|
| 436 |
+
<!-- wheel -->
|
| 437 |
+
<!-- slide -->
|
| 438 |
+
<!-- head yaw pitch -->
|
| 439 |
+
<key name="home" qpos='
|
| 440 |
+
0 0 0
|
| 441 |
+
1 0 0 0
|
| 442 |
+
0 0
|
| 443 |
+
0
|
| 444 |
+
0 0
|
| 445 |
+
0 0 0 0 0 0 0 0
|
| 446 |
+
0 0 0 0 0 0 0 0'/>
|
| 447 |
+
|
| 448 |
+
<key name="look" qpos='
|
| 449 |
+
0 0 0
|
| 450 |
+
1 0 0 0
|
| 451 |
+
0 0
|
| 452 |
+
0
|
| 453 |
+
0 0
|
| 454 |
+
0.751 -0.269 -0.079 2.0916 1.324 -0.7236 0 0
|
| 455 |
+
-0.751 -0.269 -0.079 1.05 1.324 -2.418 0 0'/>
|
| 456 |
+
|
| 457 |
+
<key name="pick" qpos='
|
| 458 |
+
0 0 0
|
| 459 |
+
1 0 0 0
|
| 460 |
+
0 0
|
| 461 |
+
0
|
| 462 |
+
0 0
|
| 463 |
+
-0. -0.166 0.032 0. 1.5708 2.223 0 0
|
| 464 |
+
-0. -0.166 0.032 0. -1.5708 -2.223 0 0'/>
|
| 465 |
+
|
| 466 |
+
<key name="carry" qpos='
|
| 467 |
+
0 0 0
|
| 468 |
+
1 0 0 0
|
| 469 |
+
0 0
|
| 470 |
+
0
|
| 471 |
+
0 0
|
| 472 |
+
-0. -0.166 0.032 0. 1.5708 0.6522 0 0
|
| 473 |
+
-0. -0.166 0.032 0. -1.5708 -0.6522 0 0'/>
|
| 474 |
+
|
| 475 |
+
<key name="pick_side" qpos='
|
| 476 |
+
0 0 0
|
| 477 |
+
1 0 0 0
|
| 478 |
+
0 0
|
| 479 |
+
0
|
| 480 |
+
0 0
|
| 481 |
+
0.07716 -0.57907 0.36637 0.85839 1.08184 0.31861 0 0
|
| 482 |
+
-0.41945 -0.56029 0.29396 -1.37813 -0.96719 0.18565 0 0'/>
|
| 483 |
+
|
| 484 |
+
</keyframe>
|
| 485 |
+
|
| 486 |
+
</mujoco>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/grasp_apple.xml
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="grasp_apple">
|
| 2 |
+
|
| 3 |
+
<include file="mmk2/mmk2_options.xml"/>
|
| 4 |
+
<include file="mmk2/mmk2_dependencies.xml"/>
|
| 5 |
+
|
| 6 |
+
<visual>
|
| 7 |
+
<global offwidth="1920" offheight="1080"/>
|
| 8 |
+
<quality shadowsize="4096" offsamples="4"/>
|
| 9 |
+
<headlight diffuse='0.6 0.6 0.6' ambient='.3 .3 .3' specular='0 0 0'/>
|
| 10 |
+
<scale com="0.05" camera="0.06" framelength="0.5" framewidth="0.02" forcewidth="0.1" contactwidth="0.01" contactheight="0.05"/>
|
| 11 |
+
</visual>
|
| 12 |
+
|
| 13 |
+
<asset>
|
| 14 |
+
<texture type='2d' name='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'/>
|
| 15 |
+
<material name='groundplane' texture='groundplane' texuniform='true' texrepeat='5 5' reflectance='0.2'/>
|
| 16 |
+
</asset>
|
| 17 |
+
|
| 18 |
+
<include file="s2r2025_dependencies.xml"/>
|
| 19 |
+
|
| 20 |
+
<worldbody>
|
| 21 |
+
<light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='-1 -1 2.5' dir='1 1 -1'/>
|
| 22 |
+
<light directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='1 -1 2.5' dir='-1 1 -1'/>
|
| 23 |
+
<light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 1 2.5' dir='0 -1 -1'/>
|
| 24 |
+
<geom name='floor' type='plane' size='0 0 0.01' material='groundplane' pos='0 0 0'/>
|
| 25 |
+
|
| 26 |
+
<site name="site_round2_target" pos="-1.0 -0.05 0.75" size="0.005" rgba="0 0 0 1" type="sphere"/>
|
| 27 |
+
<site name="site_round3_target" pos="-1.0 0.15 0.75" size="0.005" rgba="0 0 0 1" type="sphere"/>
|
| 28 |
+
|
| 29 |
+
<body name='mmk2' pos="0 0 0" euler="0 0 -1.5708">
|
| 30 |
+
<joint type="free" frictionloss="0.0001" />
|
| 31 |
+
<include file="mmk2/mmk2.xml"/>
|
| 32 |
+
</body>
|
| 33 |
+
|
| 34 |
+
<body name="table" pos="0.0 -0.75 0">
|
| 35 |
+
<geom size="0.4 0.8 0.01" pos="0 0 0.74" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1 1 1 1"/>
|
| 36 |
+
<geom size="0.02 0.02 0.37" pos=" 0.75 0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 37 |
+
<geom size="0.02 0.02 0.37" pos=" 0.75 -0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 38 |
+
<geom size="0.02 0.02 0.37" pos="-0.75 0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 39 |
+
<geom size="0.02 0.02 0.37" pos="-0.75 -0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 40 |
+
</body>
|
| 41 |
+
|
| 42 |
+
<body name="apple" quat="1 0 0 0">
|
| 43 |
+
<freejoint name="apple_free_joint"/>
|
| 44 |
+
<inertial pos="0 0 0" mass="0.005" diaginertia="0.00002 0.00002 0.00002" />
|
| 45 |
+
<geom mesh="apple" material="apple_texture" class="obj_visual"/>
|
| 46 |
+
<geom mesh="apple" class="obj_collision"/>
|
| 47 |
+
</body>
|
| 48 |
+
|
| 49 |
+
</worldbody>
|
| 50 |
+
|
| 51 |
+
<actuator>
|
| 52 |
+
<include file="mmk2/mmk2_control.xml"/>
|
| 53 |
+
</actuator>
|
| 54 |
+
|
| 55 |
+
<sensor>
|
| 56 |
+
<include file="mmk2/mmk2_sensor.xml"/>
|
| 57 |
+
</sensor>
|
| 58 |
+
|
| 59 |
+
|
| 60 |
+
</mujoco>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/lab3_env.xml
ADDED
|
@@ -0,0 +1,29 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujocoinclude>
|
| 2 |
+
|
| 3 |
+
<body name="table" pos="-0.18 1.02 0">
|
| 4 |
+
<!-- <geom size="0.3 0.6 0.01" pos="0 0 0.69" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="0.7529 0.6863 0.4235 1"/> -->
|
| 5 |
+
<geom size="0.3 0.6 0.01" pos="0 0 0.69" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" material="tc_texture"/>
|
| 6 |
+
<geom size="0.02 0.02 0.34" pos=" 0.55 0.25 0.35" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 7 |
+
<geom size="0.02 0.02 0.34" pos=" 0.55 -0.25 0.35" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 8 |
+
<geom size="0.02 0.02 0.34" pos="-0.55 0.25 0.35" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 9 |
+
<geom size="0.02 0.02 0.34" pos="-0.55 -0.25 0.35" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
|
| 10 |
+
</body>
|
| 11 |
+
|
| 12 |
+
<body name="front_wall" pos="1.1 0.25 0">
|
| 13 |
+
<geom size="0.015 1 1" pos="0 0 1" type="box" rgba="0 0 0 1"/>
|
| 14 |
+
</body>
|
| 15 |
+
|
| 16 |
+
<body name="back_wall" pos="-1.1 0.35 0">
|
| 17 |
+
<geom size="1.0 0.44 0.015" pos="0 0.45 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 18 |
+
<geom size="1.0 0.44 0.015" pos="0 -0.45 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
|
| 19 |
+
</body>
|
| 20 |
+
|
| 21 |
+
<!-- <body name="left_wall" pos="0 1.34 0">
|
| 22 |
+
<geom size="1.1 0.015 1" pos="0 0 1" type="box" rgba="0 0 0 1"/>
|
| 23 |
+
</body> -->
|
| 24 |
+
|
| 25 |
+
<!-- <body name="right_wall" pos="0 -0.8 0">
|
| 26 |
+
<geom size="1.1 0.015 1" pos="0 0 1" type="box" rgba="0 0 0 1"/>
|
| 27 |
+
</body> -->
|
| 28 |
+
|
| 29 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/leaphand_sensor_env.xml
ADDED
|
@@ -0,0 +1,63 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco>
|
| 2 |
+
<include file="dex_hand/leaphand_sensor_env/leaphand_sensor.xml"/>
|
| 3 |
+
<compiler autolimits="true"/>
|
| 4 |
+
|
| 5 |
+
<option solver="Newton" tolerance="1e-6" timestep=".001" integrator="RK4"/>
|
| 6 |
+
|
| 7 |
+
<size memory="1000M"/>
|
| 8 |
+
|
| 9 |
+
<visual>
|
| 10 |
+
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
|
| 11 |
+
<rgba haze="0.15 0.25 0.35 1"/>
|
| 12 |
+
<global offwidth="1920" offheight="1080" azimuth="-35" elevation="-50" fovy="8"/>
|
| 13 |
+
</visual>
|
| 14 |
+
|
| 15 |
+
<asset>
|
| 16 |
+
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 17 |
+
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
|
| 18 |
+
markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
| 19 |
+
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
| 20 |
+
</asset>
|
| 21 |
+
|
| 22 |
+
<worldbody>
|
| 23 |
+
<light pos="0 0.5 1" dir="0 -1 -1" directional="true"/>
|
| 24 |
+
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
|
| 25 |
+
|
| 26 |
+
</worldbody>
|
| 27 |
+
|
| 28 |
+
<keyframe>
|
| 29 |
+
<key name="0" qpos='-0.00226135 8.37106e-07 -0.000283312 -3.4303e-130 -0.00226135 8.37106e-07 -0.000283312 -8.67362e-20 -0.00226135 8.37106e-07 -0.000283312 -8.67362e-20 -0.00247518 -1.96501e-130 -1.35525e-21 -6.77626e-22 '/>
|
| 30 |
+
<!-- thumb up -->
|
| 31 |
+
<key name="1" qpos='-0.00226135 8.37106e-07 -0.000283312 -1.27324e-65 -0.00226135 8.37106e-07 -0.000283312 8.67362e-20 -0.00226135 8.37106e-07 -0.000283312 -1.81304e-66 1.49489 0.374717 0.474483 0.0446 '/>
|
| 32 |
+
<!-- thumb down -->
|
| 33 |
+
<key name="2" qpos='-0.00226135 8.37106e-07 -0.000283312 6.63378e-20 -0.00226135 8.37106e-07 -0.000283312 3.74001e-21 -0.00226135 8.37106e-07 -0.000283312 6.83426e-22 1.54813 0.419963 0.516416 0.804056 '/>
|
| 34 |
+
<!-- thumb up again -->
|
| 35 |
+
<key name="3" qpos='-0.00226135 8.37106e-07 -0.000283312 -1.27324e-65 -0.00226135 8.37106e-07 -0.000283312 8.67362e-20 -0.00226135 8.37106e-07 -0.000283312 -1.81304e-66 1.49489 0.374717 0.474483 0.0446 '/>
|
| 36 |
+
<!-- index up -->
|
| 37 |
+
<key name="4"qpos='0.282126 -0.785448 0.521922 0.28416 -0.00226135 8.37106e-07 -0.000283312 -8.67362e-20 -0.00226135 8.37106e-07 -0.000283312 -8.67362e-20 1.32344 0.345489 0.396834 1.997e-23 '/>
|
| 38 |
+
<!-- index down -->
|
| 39 |
+
<key name="5" qpos='0.186744 -0.800004 0.943361 1.38124 -0.00226135 8.37106e-07 -0.000283312 2.00081e-21 -0.00226135 8.37106e-07 -0.000283312 1.05584e-21 1.32344 0.345489 0.396834 6.9146e-20 '/>
|
| 40 |
+
<!-- index up gain, mid and ring up -->
|
| 41 |
+
<key name="6" qpos='0.142133 -0.785353 0.306681 0.74168 0.141628 0.0837159 -0.000280487 0.45272 -0.00216142 1.047 1.15563 -2.83058e-23 1.32344 0.345489 0.396834 1.30291e-23 '/>
|
| 42 |
+
<!-- mid and ring down -->
|
| 43 |
+
<key name="7" qpos='0.142133 -0.785353 0.306681 0.74168 0.18398 -0.0110543 0.0270942 1.86068 0.0516132 1.04715 1.40686 1.07264 1.32344 0.345489 0.396834 6.40245e-20 '/>
|
| 44 |
+
<!-- all up -->
|
| 45 |
+
<key name="8" qpos='0.142133 -0.785353 0.306681 0.74168 0.027188 -0.0314206 -0.135677 0.58516 0.0907952 1.047 0.187115 0.4768 1.26204 0.345603 -0.0842046 0.5115 '/>
|
| 46 |
+
<!-- all down -->
|
| 47 |
+
<key name="9" qpos='0.0161844 -0.798912 0.917464 1.73854 -0.198523 -0.0509074 0.669925 1.58385 0.00492535 1.04923 1.58919 1.43572 1.09496 0.305141 0.88478 0.968157 '/>
|
| 48 |
+
<!-- all up again -->
|
| 49 |
+
<key name="10" qpos='0.142131 -0.785353 0.294725 -0.366 0.0271868 -0.0314206 0.0316922 0.44068 0.0907919 1.047 0.115381 0.44068 1.26207 0.476654 -0.0532127 0.2217 '/>
|
| 50 |
+
<!-- all down again -->
|
| 51 |
+
<key name="11" qpos='0.275747 -1.04437 0.896376 1.56445 -0.202941 -0.0241462 0.798701 1.16818 -0.0212646 1.01949 1.57181 1.0231 1.22192 0.379443 0.273375 1.60597 '/>
|
| 52 |
+
<!-- back to init -->
|
| 53 |
+
<key name="12" qpos='-0.00226135 8.37106e-07 -0.000283312 -3.4303e-130 -0.00226135 8.37106e-07 -0.000283312 -8.67362e-20 -0.00226135 8.37106e-07 -0.000283312 -8.67362e-20 -0.00247518 -1.96501e-130 -1.35525e-21 -6.77626e-22 '/>
|
| 54 |
+
|
| 55 |
+
|
| 56 |
+
</keyframe>
|
| 57 |
+
|
| 58 |
+
</mujoco>
|
| 59 |
+
|
| 60 |
+
|
| 61 |
+
|
| 62 |
+
|
| 63 |
+
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/manipulator/agilex_piper/piper.png
ADDED
|
Git LFS Details
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/manipulator/agilex_piper/piper.xml
ADDED
|
@@ -0,0 +1,74 @@
|
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|
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|
| 1 |
+
<mujocoinclude>
|
| 2 |
+
<body name="base_link" childclass="piper">
|
| 3 |
+
<site name="armbase"/>
|
| 4 |
+
<geom name="base_link_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="base_link.STL" class="collision" />
|
| 5 |
+
<geom name="base_link_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="base_link.obj" material="black" class="visual" />
|
| 6 |
+
<body name="link1" pos="0 0 0.123" quat="0.7071054825112363 0.0 0.0 -0.7071080798594735">
|
| 7 |
+
<inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1.0 0.0 0.0 0.0" mass="0.0978679932242825" diaginertia="7.76684558296782e-05 9.24967780161547e-05 8.24589062407807e-05" />
|
| 8 |
+
<joint name="joint1" type="hinge" range="-2.618 2.618" axis="0 0 1" damping="20"/>
|
| 9 |
+
<geom name="link1_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link1.STL" class="collision" />
|
| 10 |
+
<geom name="link1_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link1.obj" material="black" class="visual" />
|
| 11 |
+
<body name="link2" pos="0 0 0" quat="0.4999981633974483 0.49999999999662686 -0.5000018366025516 -0.49999999999662686">
|
| 12 |
+
<inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1.0 0.0 0.0 0.0" mass="0.290888938633388" diaginertia="0.000148959640166183 0.00172800946632652 0.0017754628344594" />
|
| 13 |
+
<joint name="joint2" type="hinge" range="0 3.14" axis="0 0 1" damping="20"/>
|
| 14 |
+
<geom name="link2_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link2.STL" class="collision" />
|
| 15 |
+
<geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link2_visual_0" mesh="link2_0" material="link2_material_5" />
|
| 16 |
+
<geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link2_visual_1" mesh="link2_1" material="link2_material_4" />
|
| 17 |
+
<geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link2_visual_2" mesh="link2_2" material="link2_material_3" />
|
| 18 |
+
<geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link2_visual_3" mesh="link2_3" material="link2_material_2" />
|
| 19 |
+
<geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link2_visual_4" mesh="link2_4" material="link2_material_1" />
|
| 20 |
+
<geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link2_visual_5" mesh="link2_5" material="link2_material_0" />
|
| 21 |
+
<body name="link3" pos="0.28358 0.028726 0" quat="0.9987264076189438 0.0 0.0 0.05045356998825135">
|
| 22 |
+
<inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1.0 0.0 0.0 0.0" mass="0.290847697793211" diaginertia="0.000107879011637167 0.000214751671792086 0.000241923439340319" />
|
| 23 |
+
<joint name="joint3" type="hinge" range="-2.697 0" axis="0 0 1" damping="20"/>
|
| 24 |
+
<geom name="link3_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link3.STL" class="collision" />
|
| 25 |
+
<geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link3_visual_0" mesh="link3_0" material="link2_material_4" />
|
| 26 |
+
<geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link3_visual_1" mesh="link3_1" material="link2_material_2" />
|
| 27 |
+
<geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link3_visual_2" mesh="link3_2" material="link2_material_5" />
|
| 28 |
+
<body name="link4" pos="-0.24221 0.068514 0" quat="0.5447666963008092 -0.5447686973442933 -0.4508091647208976 0.45080750880941434">
|
| 29 |
+
<inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1.0 0.0 0.0 0.0" mass="0.127087348341362" diaginertia="3.82011730423416e-05 4.87048555222578e-05 4.10592077565559e-05" />
|
| 30 |
+
<joint name="joint4" type="hinge" range="-1.832 1.832" axis="0 0 1" damping="10"/>
|
| 31 |
+
<geom name="link4_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link4.STL" class="collision" />
|
| 32 |
+
<geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link4_visual_0" mesh="link4_0" material="link2_material_4" />
|
| 33 |
+
<geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link4_visual_1" mesh="link4_1" material="link2_material_5" />
|
| 34 |
+
<body name="link5" pos="0 0 0" quat="0.7071054825112363 0.7071080798594735 0.0 0.0">
|
| 35 |
+
<inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1.0 0.0 0.0 0.0" mass="0.144711242639457" diaginertia="4.39644313662493e-05 5.63173920951307e-05 4.88713664675268e-05" />
|
| 36 |
+
<joint name="joint5" type="hinge" range="-1.22 1.22" axis="0 0 1" damping="10"/>
|
| 37 |
+
<geom name="link5_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link5.STL" class="collision" />
|
| 38 |
+
<geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link5_visual_0" mesh="link5_0" material="link2_material_0" />
|
| 39 |
+
<geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link5_visual_1" mesh="link5_1" material="link2_material_4" />
|
| 40 |
+
<geom pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" class="visual" name="link5_visual_2" mesh="link5_2" material="link2_material_5" />
|
| 41 |
+
<body name="link6" pos="0 0.091 0.0014165" quat="1.894681827859535e-08 -1.894688787427276e-08 -0.7071054825112361 -0.7071080798594733">
|
| 42 |
+
<inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1.0 0.0 0.0 0.0" mass="0.195187143240719" diaginertia="6.43790256535539e-05 0.000126146396374301 0.000154087076816444" />
|
| 43 |
+
<joint name="joint6" type="hinge" range="-3.14 3.14" axis="0 0 1" damping="10"/>
|
| 44 |
+
<geom name="link6_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link6.STL" class="collision" />
|
| 45 |
+
<geom name="link6_visual" pos="0 0 0" quat="0.7071054825112363 0.0 0.0 0.7071080798594735" type="mesh" mesh="link6.obj" material="black" class="visual" />
|
| 46 |
+
<site name="endpoint" pos='0 0 0.13' quat="-0.707 0 0.707 0"/>
|
| 47 |
+
<body name="camera_mount" pos="0 0 -0.077" quat="0.7071054825112363 0.0 0.0 0.7071080798594735">
|
| 48 |
+
<geom name="camera_mount_visual" pos="0 0 0.08" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="camera_link.obj" material="camera_link_black_medium_gloss_plastic" class="visual" />
|
| 49 |
+
<body name="camera" pos="0.045 0.09 0.115" quat="0.6006548037091628 -0.3731136646936255 -0.37311366469362556 -0.6006548037091627">
|
| 50 |
+
<geom name="camera_visual" pos="0.014 -0.045 -0.03" quat="0.7062230818371108 0.03534060950936697 -0.03534060950936696 -0.7062230818371107" type="mesh" mesh="camera.obj" material="default_material" class="visual" />
|
| 51 |
+
</body>
|
| 52 |
+
</body>
|
| 53 |
+
<body name="link7" pos="0 0 0.13503" quat="1.894681827859535e-08 1.894688787427276e-08 0.7071080798594733 0.7071054825112361">
|
| 54 |
+
<inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1.0 0.0 0.0 0.0" mass="0.02648229234527" diaginertia="9.99787479924589e-06 6.1795212293655e-06 1.42102717246564e-05" />
|
| 55 |
+
<joint name="finger_joint1" type="slide" range="0 0.04" axis="0 0 -1" damping="1"/>
|
| 56 |
+
<geom name="link7_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link7.STL" class="collision" />
|
| 57 |
+
<geom name="link7_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link7.obj" material="black" class="visual" />
|
| 58 |
+
<geom type="box" size=".01 .025 .002" pos="0 -0.02 -0.002" rgba="1 0 0 1" class="collision"/>
|
| 59 |
+
</body>
|
| 60 |
+
<body name="link8" pos="0 0 0.13503" quat="1.894681827859535e-08 -1.894688787427276e-08 -0.7071080798594733 0.7071054825112361">
|
| 61 |
+
<inertial pos="0.000277816920932317 0.0467673824063769 -0.00921030054508036" quat="1.0 0.0 0.0 0.0" mass="0.0264822021416248" diaginertia="9.99779119357223e-06 6.17952441557932e-06 1.4210192754512e-05" />
|
| 62 |
+
<joint name="finger_joint2" type="slide" range="0 0.04" axis="0 0 -1" damping="1"/>
|
| 63 |
+
<geom name="link8_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link8.STL" class="collision" />
|
| 64 |
+
<geom name="link8_visual" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="link8.obj" material="black" class="visual" />
|
| 65 |
+
<geom type="box" size=".01 .025 .002" pos="0 0.02 -0.002" rgba="1 0 0 1" class="collision"/>
|
| 66 |
+
</body>
|
| 67 |
+
</body>
|
| 68 |
+
</body>
|
| 69 |
+
</body>
|
| 70 |
+
</body>
|
| 71 |
+
</body>
|
| 72 |
+
</body>
|
| 73 |
+
</body>
|
| 74 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/manipulator/agilex_piper/piper_control.xml
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujocoinclude>
|
| 2 |
+
<position name="joint1" joint="joint1" kp="300" kv="5" ctrlrange="-2.618 2.618" forcerange="-100 100"/>
|
| 3 |
+
<position name="joint2" joint="joint2" kp="300" kv="5" ctrlrange="0 3.14" forcerange="-100 100"/>
|
| 4 |
+
<position name="joint3" joint="joint3" kp="300" kv="5" ctrlrange="-2.697 0" forcerange="-100 100"/>
|
| 5 |
+
<position name="joint4" joint="joint4" kp="150" kv="2" ctrlrange="-1.832 1.832" forcerange="-50 50"/>
|
| 6 |
+
<position name="joint5" joint="joint5" kp="150" kv="2" ctrlrange="-1.22 1.22" forcerange="-50 50"/>
|
| 7 |
+
<position name="joint6" joint="joint6" kp="150" kv="2" ctrlrange="-3.14 3.14" forcerange="-50 50"/>
|
| 8 |
+
<position name="gripper" joint="finger_joint1" kp="300" kv="2" ctrlrange="0 0.04" forcerange="-100 100"/>
|
| 9 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/manipulator/agilex_piper/piper_dependencies.xml
ADDED
|
@@ -0,0 +1,77 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujocoinclude>
|
| 2 |
+
|
| 3 |
+
<default>
|
| 4 |
+
<default class="piper">
|
| 5 |
+
<default class="visual">
|
| 6 |
+
<geom material="visualgeom" contype="0" conaffinity="0" group="2" />
|
| 7 |
+
</default>
|
| 8 |
+
<default class="collision">
|
| 9 |
+
<geom material="collision_material" condim="3" contype="0" conaffinity="1" priority="1" group="3" solref="0.005 1" friction="1 0.01 0.01" />
|
| 10 |
+
<equality solimp="0.99 0.999 1e-05" solref="0.005 1" />
|
| 11 |
+
</default>
|
| 12 |
+
<site size="0.001" group="3"/>
|
| 13 |
+
</default>
|
| 14 |
+
</default>
|
| 15 |
+
|
| 16 |
+
<asset>
|
| 17 |
+
<material name="camera_link_black_medium_gloss_plastic" rgba="0.101961 0.101961 0.101961 1.000000" />
|
| 18 |
+
<material name="black" rgba="0.2 0.2 0.2 1" />
|
| 19 |
+
<material name="default_material" rgba="0.7 0.7 0.7 1" />
|
| 20 |
+
<material name="collision_material" rgba="1.0 0.28 0.1 0.9" />
|
| 21 |
+
<material name="link2_material_0" rgba="0.976471 0.976471 0.976471 1.0" />
|
| 22 |
+
<material name="link2_material_1" rgba="0.086275 0.086275 0.086275 1.0" />
|
| 23 |
+
<material name="link2_material_2" rgba="0.811765 0.149020 0.149020 1.0" />
|
| 24 |
+
<material name="link2_material_3" rgba="0.501961 0.501961 0.501961 1.0" />
|
| 25 |
+
<material name="link2_material_4" rgba="0.137255 0.137255 0.137255 1.0" />
|
| 26 |
+
<material name="link2_material_5" rgba="0.584314 0.584314 0.584314 1.0" />
|
| 27 |
+
</asset>
|
| 28 |
+
|
| 29 |
+
<asset>
|
| 30 |
+
<mesh name="base_link.STL" file="piper/collisions/base_link.STL" />
|
| 31 |
+
<mesh name="base_link.obj" file="piper/visual/base_link.obj" />
|
| 32 |
+
<mesh name="link1.STL" file="piper/collisions/link1.STL" />
|
| 33 |
+
<mesh name="link1.obj" file="piper/visual/link1.obj" />
|
| 34 |
+
<mesh name="link2.STL" file="piper/collisions/link2.STL" />
|
| 35 |
+
<mesh name="link3.STL" file="piper/collisions/link3.STL" />
|
| 36 |
+
<mesh name="link4.STL" file="piper/collisions/link4.STL" />
|
| 37 |
+
<mesh name="link5.STL" file="piper/collisions/link5.STL" />
|
| 38 |
+
<mesh name="link6.STL" file="piper/collisions/link6.STL" />
|
| 39 |
+
<mesh name="link6.obj" file="piper/visual/link6.obj" />
|
| 40 |
+
<mesh name="camera_link.obj" file="piper/visual/camera_link.obj" />
|
| 41 |
+
<mesh name="camera.obj" file="piper/visual/camera.obj" />
|
| 42 |
+
<mesh name="link7.STL" file="piper/collisions/link7.STL" />
|
| 43 |
+
<mesh name="link7.obj" file="piper/visual/link7.obj" />
|
| 44 |
+
<mesh name="link8.STL" file="piper/collisions/link8.STL" />
|
| 45 |
+
<mesh name="link8.obj" file="piper/visual/link8.obj" />
|
| 46 |
+
<mesh name="link2_0" file="piper/visual/link2/link2_0.obj" />
|
| 47 |
+
<mesh name="link2_1" file="piper/visual/link2/link2_1.obj" />
|
| 48 |
+
<mesh name="link2_2" file="piper/visual/link2/link2_2.obj" />
|
| 49 |
+
<mesh name="link2_3" file="piper/visual/link2/link2_3.obj" />
|
| 50 |
+
<mesh name="link2_4" file="piper/visual/link2/link2_4.obj" />
|
| 51 |
+
<mesh name="link2_5" file="piper/visual/link2/link2_5.obj" />
|
| 52 |
+
<mesh name="link3_0" file="piper/visual/link3/link3_0.obj" />
|
| 53 |
+
<mesh name="link3_1" file="piper/visual/link3/link3_1.obj" />
|
| 54 |
+
<mesh name="link3_2" file="piper/visual/link3/link3_2.obj" />
|
| 55 |
+
<mesh name="link4_0" file="piper/visual/link4/link4_0.obj" />
|
| 56 |
+
<mesh name="link4_1" file="piper/visual/link4/link4_1.obj" />
|
| 57 |
+
<mesh name="link5_0" file="piper/visual/link5/link5_0.obj" />
|
| 58 |
+
<mesh name="link5_1" file="piper/visual/link5/link5_1.obj" />
|
| 59 |
+
<mesh name="link5_2" file="piper/visual/link5/link5_2.obj" />
|
| 60 |
+
</asset>
|
| 61 |
+
|
| 62 |
+
<equality>
|
| 63 |
+
<joint joint1="finger_joint1" joint2="finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1"/>
|
| 64 |
+
</equality>
|
| 65 |
+
|
| 66 |
+
<contact>
|
| 67 |
+
<exclude body1="base_link" body2="link1" />
|
| 68 |
+
<exclude body1="link1" body2="link2" />
|
| 69 |
+
<exclude body1="link2" body2="link3" />
|
| 70 |
+
<exclude body1="link3" body2="link4" />
|
| 71 |
+
<exclude body1="link4" body2="link5" />
|
| 72 |
+
<exclude body1="link5" body2="link6" />
|
| 73 |
+
<exclude body1="link6" body2="link7" />
|
| 74 |
+
<exclude body1="link6" body2="link8" />
|
| 75 |
+
</contact>
|
| 76 |
+
|
| 77 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/manipulator/agilex_piper/piper_sensor.xml
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujocoinclude>
|
| 2 |
+
<jointpos name="joint1_pos" joint="joint1"/>
|
| 3 |
+
<jointpos name="joint2_pos" joint="joint2"/>
|
| 4 |
+
<jointpos name="joint3_pos" joint="joint3"/>
|
| 5 |
+
<jointpos name="joint4_pos" joint="joint4"/>
|
| 6 |
+
<jointpos name="joint5_pos" joint="joint5"/>
|
| 7 |
+
<jointpos name="joint6_pos" joint="joint6"/>
|
| 8 |
+
<jointpos name="gripper_pos" joint="finger_joint1"/>
|
| 9 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/manipulator/airbot_play/airbot_play.png
ADDED
|
Git LFS Details
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/manipulator/airbot_play/airbot_play.xml
ADDED
|
@@ -0,0 +1,70 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujocoinclude>
|
| 2 |
+
<!-- ======= AITBOT PLAY ======= -->
|
| 3 |
+
<body name="arm_base" childclass="aribot_play">
|
| 4 |
+
<site name="armbase"/>
|
| 5 |
+
<geom type="box" pos="-0.02 0 0.005" size="0.0806 0.1375 0.0025" rgba="0.2 0.2 0.2 1" euler="0 0 1.5708" class="collision"/>
|
| 6 |
+
<geom type="box" pos="-0.015 0 0.045" size="0.07 0.05 0.04" rgba="1 0 0 0.5" class="collision"/>
|
| 7 |
+
<geom mesh="arm_base_0" pos="0 0 -0.0015" material="Gree_Light_Base" class="visual"/>
|
| 8 |
+
<geom mesh="arm_base_1" material="Paint_Matte_Black" class="visual"/>
|
| 9 |
+
<body name="link1" pos="0 0 0.1172">
|
| 10 |
+
<inertial pos="7.9126e-05 -0.002527 -0.0041359" quat="0.696716 0.716558 0.0238919 -0.0236876" mass="0.54639" diaginertia="0.000346294 0.000325437 0.000286269"/>
|
| 11 |
+
<joint name="joint1" class="joint1"/>
|
| 12 |
+
<geom type="mesh" material="Paint_Matte_Black" mesh="link1" class="visual"/>
|
| 13 |
+
<body name="link2" quat="0.135866 0.135867 -0.69393 0.693932">
|
| 14 |
+
<inertial pos="0.22493 0.0047721 0.008023" quat="-0.210875 0.632473 -0.273056 0.693506" mass="0.64621" diaginertia="0.00516535 0.00505042 0.000418626"/>
|
| 15 |
+
<joint name="joint2" class="joint2"/>
|
| 16 |
+
<geom type="box" pos="0.08 0.015 0" euler="0 0 0.15" size="0.11 0.03 0.04" rgba="1 0 0 1" class="collision"/>
|
| 17 |
+
<geom type="box" pos="0.235 0.015 0" euler="0 0 -0.3" size="0.065 0.025 0.045" rgba="1 0 0 1" class="collision"/>
|
| 18 |
+
<geom mesh="link2_0" material="Paint_Matte_Black" class="visual"/>
|
| 19 |
+
<geom mesh="link2_1" material="Paint_Metallic_White" class="visual"/>
|
| 20 |
+
<body name="link3" pos="0.27009 0 0" quat="0.192144 0 0 -0.981367">
|
| 21 |
+
<inertial pos="0.16813 -5.5576e-05 0.0031184" quat="0.511278 0.488423 0.489191 0.510617" mass="0.26829" diaginertia="0.0031527 0.0030951 0.000239403"/>
|
| 22 |
+
<joint name="joint3" class="joint3"/>
|
| 23 |
+
<geom type="box" pos="0.13 0 0" size="0.13 0.025 0.025" rgba="1 0 0 1" class="collision"/>
|
| 24 |
+
<geom mesh="link3_0" material="Paint_Matte_Black" class="visual"/>
|
| 25 |
+
<geom mesh="link3_1" material="Paint_Metallic_White" class="visual"/>
|
| 26 |
+
<body name="link4" pos="0.29015 0 0" quat="-2.59734e-06 0.707105 2.59735e-06 0.707108">
|
| 27 |
+
<inertial pos="5.2436e-06 0.00040412 -0.03228" quat="0.999969 -0.000174762 -0.00792041 -6.98144e-05" mass="0.34876" diaginertia="0.000423574 0.000412 0.000126826"/>
|
| 28 |
+
<joint name="joint4" class="joint4"/>
|
| 29 |
+
<!-- <geom type="cylinder" pos="0 0 0" size="0.03 0.03" euler="1.5708 0 0" rgba="1 0 0 1" class="collision"/> -->
|
| 30 |
+
<geom type="mesh" material="Paint_Matte_Black" mesh="link4" class="visual"/>
|
| 31 |
+
<body name="link5" quat="0.707105 0.707108 0 0">
|
| 32 |
+
<inertial pos="8.3328e-06 0.026148 0.002525" quat="0.531568 0.4663 0.4663 0.531568" mass="0.36132" diaginertia="0.0004677 0.000432922 0.000178178"/>
|
| 33 |
+
<joint name="joint5" class="joint5"/>
|
| 34 |
+
<!-- <geom type="cylinder" pos="0 0.06 0" size="0.03 0.03" euler="1.5708 0 0" rgba="1 0 0 1" class="collision"/> -->
|
| 35 |
+
<geom mesh="link5_0" material="Paint_Matte_Black" class="visual"/>
|
| 36 |
+
<geom mesh="link5_1" material="Paint_Metallic_White" class="visual"/>
|
| 37 |
+
<body name="link6" pos="0 0.23645 0" quat="0.499998 -0.5 0.5 0.500002">
|
| 38 |
+
<body pos="-0.105 0 -0.12" euler="3.1416 0 1.5708">
|
| 39 |
+
<camera name="eye_arm" euler="-0.5236 0 0" fovy="72.5376526571421"/>
|
| 40 |
+
</body>
|
| 41 |
+
<inertial pos="-0.0047053 7.3857e-05 -0.12293" mass="0.53855" diaginertia="5e-05 5e-05 3.85e-05"/>
|
| 42 |
+
<joint name="joint6" class="joint6"/>
|
| 43 |
+
<!-- <geom type="cylinder" pos="0 0 -0.11" size="0.03 0.03" euler="0 0 0" rgba="1 0 0 1" class="collision"/> -->
|
| 44 |
+
<geom type="box" pos="0 0 -0.07" size="0.025 0.08 0.015" rgba="1 0 0 1" class="collision"/>
|
| 45 |
+
<geom type="mesh" material="Paint_Matte_Black" mesh="link6" class="visual"/>
|
| 46 |
+
<geom type="mesh" material="Paint_Matte_Black" mesh="camera_stand" class="visual"/>
|
| 47 |
+
<site name="endpoint" pos='0 0 0.015' euler="0 -1.5708 0"/>
|
| 48 |
+
<body name="left">
|
| 49 |
+
<inertial pos="-0.048742 0.0096369 0.00044322" quat="0.757393 0.0415116 0.0313705 0.650883" mass="0.0626" diaginertia="2.79281e-05 1.90181e-05 1.21737e-05"/>
|
| 50 |
+
<joint name="endleft" class='finger2'/>
|
| 51 |
+
<geom type="mesh" mesh="right" material="Paint_Matte_Black" class="visual"/>
|
| 52 |
+
<geom name="left_finger_pad" type="box" size=".00525 .002 .02" pos="0 0.002 0.005" rgba="1 0 0 1" class="collision"/>
|
| 53 |
+
<geom type="box" size=".015 .002 .018" pos="0 0.002 -0.035" rgba="1 0 0 1" class="collision"/>
|
| 54 |
+
</body>
|
| 55 |
+
<body name="right">
|
| 56 |
+
<inertial pos="-0.049039 -0.0096764 0.00038868" quat="0.650491 0.0296695 0.0398251 0.757889" mass="0.061803" diaginertia="2.74809e-05 1.88104e-05 1.19127e-05"/>
|
| 57 |
+
<joint name="endright" class='finger1'/>
|
| 58 |
+
<geom type="mesh" mesh="left" material="Paint_Matte_Black" class="visual"/>
|
| 59 |
+
<geom name="right_finger_pad" type="box" size=".00525 .002 .02" pos="0 -0.002 0.005" rgba="1 0 0 1" class="collision"/>
|
| 60 |
+
<geom type="box" size=".015 .002 .018" pos="0 -0.002 -0.035" rgba="1 0 0 1" class="collision"/>
|
| 61 |
+
</body>
|
| 62 |
+
</body>
|
| 63 |
+
</body>
|
| 64 |
+
</body>
|
| 65 |
+
</body>
|
| 66 |
+
</body>
|
| 67 |
+
</body>
|
| 68 |
+
</body>
|
| 69 |
+
|
| 70 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/manipulator/airbot_play/airbot_play_appendix.xml
ADDED
|
@@ -0,0 +1,18 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujocoinclude>
|
| 2 |
+
|
| 3 |
+
<contact>
|
| 4 |
+
<exclude body1='arm_base' body2='link2'/>
|
| 5 |
+
</contact>
|
| 6 |
+
|
| 7 |
+
<tendon>
|
| 8 |
+
<fixed name='gripper_gear'>
|
| 9 |
+
<joint joint='endleft' coef='0.5'/>
|
| 10 |
+
<joint joint='endright' coef='-0.5'/>
|
| 11 |
+
</fixed>
|
| 12 |
+
</tendon>
|
| 13 |
+
|
| 14 |
+
<equality>
|
| 15 |
+
<joint joint1='endleft' joint2='endright' polycoef='0 -1 0 0 0 '/>
|
| 16 |
+
</equality>
|
| 17 |
+
|
| 18 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/manipulator/airbot_play/airbot_play_control.xml
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujocoinclude>
|
| 2 |
+
<position name="joint1" ctrllimited="true" ctrlrange="-3.151 2.089" joint="joint1" kp="1000" user="1" forcelimited="true" forcerange="-300 300"/>
|
| 3 |
+
<position name="joint2" ctrllimited="true" ctrlrange="-2.963 0.181" joint="joint2" kp="1000" user="1" forcelimited="true" forcerange="-300 300"/>
|
| 4 |
+
<position name="joint3" ctrllimited="true" ctrlrange="-0.094 3.161" joint="joint3" kp="1000" user="1" forcelimited="true" forcerange="-300 300"/>
|
| 5 |
+
<position name="joint4" ctrllimited="true" ctrlrange="-3.012 3.012" joint="joint4" kp="350" user="1" forcelimited="true" forcerange="-300 300"/>
|
| 6 |
+
<position name="joint5" ctrllimited="true" ctrlrange="-1.859 1.859" joint="joint5" kp="350" user="1" forcelimited="true" forcerange="-300 300"/>
|
| 7 |
+
<position name="joint6" ctrllimited="true" ctrlrange="-3.017 3.017" joint="joint6" kp="100" user="1" forcelimited="true" forcerange="-300 300"/>
|
| 8 |
+
<position name='gripper' tendon='gripper_gear' ctrllimited="true" ctrlrange="0. 0.04" kp="30" user="1" forcelimited="true" forcerange="-15 15"/>
|
| 9 |
+
</mujocoinclude>
|
assets/discoverse/raw/collections/models/discoverse_models/mjcf/manipulator/airbot_play/airbot_play_dependencies.xml
ADDED
|
@@ -0,0 +1,69 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujocoinclude>
|
| 2 |
+
<default>
|
| 3 |
+
|
| 4 |
+
<default class='aribot_play'>
|
| 5 |
+
<default class="visual">
|
| 6 |
+
<geom group="2" type="mesh" contype="0" conaffinity="0"/>
|
| 7 |
+
</default>
|
| 8 |
+
<default class="collision">
|
| 9 |
+
<geom group="3" condim="6" solimp="2 1 0.01" solref="0.001 10" friction="1 0.005 0.0001" type="mesh"/>
|
| 10 |
+
</default>
|
| 11 |
+
<default class='joint1'>
|
| 12 |
+
<joint axis='0 0 1' range="-3.151 2.089" actuatorfrcrange="-24 24" damping="0.2" frictionloss='15' />
|
| 13 |
+
<position ctrlrange="-3.151 2.089"/>
|
| 14 |
+
</default>
|
| 15 |
+
<default class='joint2'>
|
| 16 |
+
<joint axis='0 0 1' range="-2.963 0.181" actuatorfrcrange="-24 24" damping="0.2" frictionloss='15' />
|
| 17 |
+
<position ctrlrange="-2.963 0.181" />
|
| 18 |
+
</default>
|
| 19 |
+
<default class='joint3'>
|
| 20 |
+
<joint axis='0 0 1' range='-0.094 3.161' actuatorfrcrange="-24 24" damping="0.2" frictionloss='15' />
|
| 21 |
+
<position ctrlrange='-0.094 3.161'/>
|
| 22 |
+
</default>
|
| 23 |
+
<default class='joint4'>
|
| 24 |
+
<joint axis='0 0 1' range="-3.012 3.012" actuatorfrcrange="-8 8" damping="0.1" frictionloss='5' />
|
| 25 |
+
<position ctrlrange="-3.012 3.012"/>
|
| 26 |
+
</default>
|
| 27 |
+
<default class='joint5'>
|
| 28 |
+
<joint axis='0 0 1' range="-1.859 1.859" actuatorfrcrange="-8 8" damping="0.1" frictionloss='5' />
|
| 29 |
+
<position ctrlrange="-1.859 1.859"/>
|
| 30 |
+
</default>
|
| 31 |
+
<default class='joint6'>
|
| 32 |
+
<joint axis='0 0 1' range="-3.017 3.017" actuatorfrcrange="-8 8" damping="0.1" frictionloss='5' />
|
| 33 |
+
<position ctrlrange="-3.017 3.017"/>
|
| 34 |
+
</default>
|
| 35 |
+
<default class='finger1'>
|
| 36 |
+
<joint axis='0 1 0' range="-0.04 0" type='slide' damping="1"/>
|
| 37 |
+
</default>
|
| 38 |
+
<default class='finger2'>
|
| 39 |
+
<joint axis='0 1 0' range="0 0.04" type='slide' damping="1"/>
|
| 40 |
+
</default>
|
| 41 |
+
</default>
|
| 42 |
+
<site size="0.001" group="3"/>
|
| 43 |
+
|
| 44 |
+
</default>
|
| 45 |
+
|
| 46 |
+
<asset>
|
| 47 |
+
<material name="Paint_Matte_Black" specular="0.5" shininess="0.5" rgba="0.00111266039 0.00111266039 0.00111266039 1.0"/>
|
| 48 |
+
<material name="Paint_Metallic_White" specular="0.5" shininess="0.5" rgba="0.928523183 0.928523183 0.928523123 1.0"/>
|
| 49 |
+
<material name="Gree_Light_Base" specular="0.5" shininess="0.5" rgba="0.6 1 1 1"/>
|
| 50 |
+
</asset>
|
| 51 |
+
|
| 52 |
+
<asset>
|
| 53 |
+
<mesh name="arm_base_0" file="airbot_play/arm_base_0.obj"/>
|
| 54 |
+
<mesh name="arm_base_1" file="airbot_play/arm_base_1.obj"/>
|
| 55 |
+
<mesh name="link1" file="airbot_play/link1.obj"/>
|
| 56 |
+
<mesh name="link2_0" file="airbot_play/link2_0.obj"/>
|
| 57 |
+
<mesh name="link2_1" file="airbot_play/link2_1.obj"/>
|
| 58 |
+
<mesh name="link3_0" file="airbot_play/link3_0.obj"/>
|
| 59 |
+
<mesh name="link3_1" file="airbot_play/link3_1.obj"/>
|
| 60 |
+
<mesh name="link4" file="airbot_play/link4.obj"/>
|
| 61 |
+
<mesh name="link5_0" file="airbot_play/link5_0.obj"/>
|
| 62 |
+
<mesh name="link5_1" file="airbot_play/link5_1.obj"/>
|
| 63 |
+
<mesh name="link6" file="airbot_play/link6.obj"/>
|
| 64 |
+
<mesh name="camera_stand" file="airbot_play/camera_stand.obj"/>
|
| 65 |
+
<mesh name="left" file="airbot_play/left.obj"/>
|
| 66 |
+
<mesh name="right" file="airbot_play/right.obj"/>
|
| 67 |
+
</asset>
|
| 68 |
+
|
| 69 |
+
</mujocoinclude>
|