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right_shadow_hand_wrist_free.xml
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<mujoco model="MuJoCo Model">
<compiler angle="radian" meshdir="./models/meshes/" texturedir="./models/textures/" />
<option apirate="200" iterations="20" />
<size njmax="500" nconmax="100" nstack="600000" nuser_jnt="1" nuser_site="1" nuser_tendon="1" nuser_actuator="16" nuser_sensor="1" />
<visual>
<map force="0.1" fogend="5" />
</visual>
<default class="main">
<default class="robot0:asset_class">
<joint limited="true" margin="0.01" armature="0.001" damping="0.1" frictionloss="0.001" />
<geom friction="1 0.005 0.001" margin="0.0005" />
<site rgba="0.4 0.9 0.4 1" />
<general ctrllimited="true" forcelimited="true" />
</default>
<default class="robot0:D_Touch">
<site size="0.009 0.004 0.013" group="4" type="box" rgba="0.8 0.8 0.8 0.15" />
</default>
<default class="robot0:DC_Hand">
<geom conaffinity="0" group="4" material="robot0:MatColl" />
</default>
<default class="robot0:free">
<joint type="free" />
</default>
</default>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" width="32" height="192" />
<texture type="2d" name="robot0:texplane" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.15 0.2" width="512" height="512" />
<texture type="cube" name="robot0:texgeom" builtin="flat" mark="cross" rgb1="0.3 0.6 0.5" rgb2="0.3 0.6 0.5" width="127" height="762" />
<material name="robot0:MatGnd" texture="robot0:texplane" texuniform="true" reflectance="0.5" />
<material name="robot0:MatColl" specular="1" shininess="0.3" reflectance="0.5" rgba="0.4 0.5 0.6 1" />
<material name="robot0:MatViz" specular="0.75" shininess="0.1" reflectance="0.5" rgba="0.93 0.93 0.93 1" />
<material name="robot0:object" texture="robot0:texgeom" />
<material name="floor_mat" specular="0" rgba="0.2 0.2 0.2 0" />
<mesh name="robot0:forearm" file="forearm_electric.obj" />
<mesh name="robot0:forearm_cvx" file="forearm_electric_cvx.obj" />
<mesh name="robot0:wrist" file="wrist.obj" scale="0.001 0.001 0.001" />
<mesh name="robot0:palm" file="palm.obj" scale="0.001 0.001 0.001" />
<mesh name="robot0:knuckle" file="knuckle.obj" scale="0.001 0.001 0.001" />
<mesh name="robot0:F3" file="F3.obj" scale="0.001 0.001 0.001" />
<mesh name="robot0:F2" file="F2.obj" scale="0.001 0.001 0.001" />
<mesh name="robot0:F1" file="F1.obj" scale="0.001 0.001 0.001" />
<mesh name="robot0:lfmetacarpal" file="lfmetacarpal.obj" scale="0.001 0.001 0.001" />
<mesh name="robot0:TH3_z" file="TH3_z.obj" scale="0.001 0.001 0.001" />
<mesh name="robot0:TH2_z" file="TH2_z.obj" scale="0.001 0.001 0.001" />
<mesh name="robot0:TH1_z" file="TH1_z.obj" scale="0.001 0.001 0.001" />
</asset>
<worldbody>
<light name="light0" pos="0 1 4" dir="0 0 -1" directional="true" castshadow="false" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" />
<body name="robot0:palm">
<inertial pos="0.006 0 0.036" quat="0.715833 0.0439898 0.0749825 0.692839" mass="0.3" diaginertia="0.001 0.001 0.001" />
<geom name="robot0:C_palm0" class="robot0:DC_Hand" size="0.032 0.0111 0.049" pos="0.011 0 0.038" type="box" rgba="0.4 0.5 0.6 0.1" />
<geom name="robot0:C_palm1" class="robot0:DC_Hand" size="0.011 0.0111 0.025" pos="-0.032 0 0.014" type="box" rgba="0.4 0.5 0.6 0.1" />
<body name="robot0:ffknuckle" pos="0.033 0 0.095">
<inertial pos="0 0 0" quat="0.520062 0.854102 0.00600072 -0.00300036" mass="0.008" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:FFJ3" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1103" />
<body name="robot0:ffproximal" pos="0 0 0">
<inertial pos="0 0 0.023" quat="0.707095 -0.00400054 0.00400054 0.707095" mass="0.014" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:FFJ2" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1102" />
<geom name="robot0:C_ffproximal" class="robot0:DC_Hand" size="0.01 0.0225" pos="0 0 0.0225" type="capsule" />
<body name="robot0:ffmiddle" pos="0 0 0.045">
<inertial pos="0 0 0.011" quat="0.707107 0 0 0.707107" mass="0.012" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:FFJ1" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1101" />
<geom name="robot0:C_ffmiddle" class="robot0:DC_Hand" size="0.00805 0.0125" pos="0 0 0.0125" type="capsule" />
<body name="robot0:ffdistal" pos="0 0 0.025">
<inertial pos="0 0 0.015" quat="0.7071 -0.00300043 0.00300043 0.7071" mass="0.01" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:FFJ0" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1100" />
<geom name="robot0:C_ffdistal" class="robot0:DC_Hand" size="0.00705 0.012" pos="0 0 0.012" type="capsule" condim="4" />
<site name="robot0:S_fftip" pos="0 0 0.026" group="3" />
<site name="robot0:Tch_fftip" class="robot0:D_Touch" pos="0 -0.004 0.018" />
</body>
</body>
</body>
</body>
<body name="robot0:mfknuckle" pos="0.011 0 0.099">
<inertial pos="0 0 0" quat="0.520062 0.854102 0.00600072 -0.00300036" mass="0.008" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:MFJ3" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1107" />
<body name="robot0:mfproximal" pos="0 0 0">
<inertial pos="0 0 0.023" quat="0.707095 -0.00400054 0.00400054 0.707095" mass="0.014" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:MFJ2" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1106" />
<geom name="robot0:C_mfproximal" class="robot0:DC_Hand" size="0.01 0.0225" pos="0 0 0.0225" type="capsule" />
<body name="robot0:mfmiddle" pos="0 0 0.045">
<inertial pos="0 0 0.012" quat="0.707107 0 0 0.707107" mass="0.012" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:MFJ1" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1105" />
<geom name="robot0:C_mfmiddle" class="robot0:DC_Hand" size="0.00805 0.0125" pos="0 0 0.0125" type="capsule" />
<body name="robot0:mfdistal" pos="0 0 0.025">
<inertial pos="0 0 0.015" quat="0.7071 -0.00300043 0.00300043 0.7071" mass="0.01" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:MFJ0" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1104" />
<geom name="robot0:C_mfdistal" class="robot0:DC_Hand" size="0.00705 0.012" pos="0 0 0.012" type="capsule" condim="4" />
<site name="robot0:S_mftip" pos="0 0 0.026" group="3" />
<site name="robot0:Tch_mftip" class="robot0:D_Touch" pos="0 -0.004 0.018" />
</body>
</body>
</body>
</body>
<body name="robot0:rfknuckle" pos="-0.011 0 0.095">
<inertial pos="0 0 0" quat="0.520062 0.854102 0.00600072 -0.00300036" mass="0.008" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:RFJ3" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1111" />
<body name="robot0:rfproximal" pos="0 0 0">
<inertial pos="0 0 0.023" quat="0.707095 -0.00400054 0.00400054 0.707095" mass="0.014" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:RFJ2" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1110" />
<geom name="robot0:C_rfproximal" class="robot0:DC_Hand" size="0.01 0.0225" pos="0 0 0.0225" type="capsule" />
<body name="robot0:rfmiddle" pos="0 0 0.045">
<inertial pos="0 0 0.012" quat="0.707107 0 0 0.707107" mass="0.012" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:RFJ1" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1109" />
<geom name="robot0:C_rfmiddle" class="robot0:DC_Hand" size="0.00805 0.0125" pos="0 0 0.0125" type="capsule" />
<body name="robot0:rfdistal" pos="0 0 0.025">
<inertial pos="0 0 0.015" quat="0.7071 -0.00300043 0.00300043 0.7071" mass="0.01" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:RFJ0" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1108" />
<geom name="robot0:C_rfdistal" class="robot0:DC_Hand" size="0.00705 0.012" pos="0 0 0.012" type="capsule" condim="4" />
<site name="robot0:S_rftip" pos="0 0 0.026" group="3" />
<site name="robot0:Tch_rftip" class="robot0:D_Touch" pos="0 -0.004 0.018" />
</body>
</body>
</body>
</body>
<body name="robot0:lfmetacarpal" pos="-0.017 0 0.044">
<inertial pos="-0.014 0.001 0.014" quat="0.709167 -0.0920216 -0.0630148 0.696164" mass="0.075" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:LFJ4" pos="0 0 0" axis="0.570977 0 0.820966" range="0 0.785" user="1116" />
<geom name="robot0:C_lfmetacarpal" class="robot0:DC_Hand" size="0.0095 0.0111 0.025" pos="-0.0165 0 0.01" type="box" rgba="0.4 0.5 0.6 0.2" />
<body name="robot0:lfknuckle" pos="-0.017 0 0.044">
<inertial pos="0 0 0" quat="0.520062 0.854102 0.00600072 -0.00300036" mass="0.008" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:LFJ3" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1115" />
<body name="robot0:lfproximal" pos="0 0 0">
<inertial pos="0 0 0.023" quat="0.707095 -0.00400054 0.00400054 0.707095" mass="0.014" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:LFJ2" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1114" />
<geom name="robot0:C_lfproximal" class="robot0:DC_Hand" size="0.01 0.0225" pos="0 0 0.0225" type="capsule" />
<body name="robot0:lfmiddle" pos="0 0 0.045">
<inertial pos="0 0 0.012" quat="0.707107 0 0 0.707107" mass="0.012" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:LFJ1" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1113" />
<geom name="robot0:C_lfmiddle" class="robot0:DC_Hand" size="0.00805 0.0125" pos="0 0 0.0125" type="capsule" />
<body name="robot0:lfdistal" pos="0 0 0.025">
<inertial pos="0 0 0.015" quat="0.7071 -0.00300043 0.00300043 0.7071" mass="0.01" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:LFJ0" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1112" />
<geom name="robot0:C_lfdistal" class="robot0:DC_Hand" size="0.00705 0.012" pos="0 0 0.012" type="capsule" condim="4" />
<site name="robot0:S_lftip" pos="0 0 0.026" group="3" />
<site name="robot0:Tch_lftip" class="robot0:D_Touch" pos="0 -0.004 0.018" />
</body>
</body>
</body>
</body>
</body>
<body name="robot0:thbase" pos="0.034 -0.009 0.029" quat="0.923956 0 0.382499 0">
<inertial pos="0 0 0" mass="0.01" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:THJ4" pos="0 0 0" axis="0 0 -1" range="-1.047 1.047" user="1121" />
<geom name="robot0:V_thbase" size="0.001 0.001 0.001" type="box" group="1" />
<body name="robot0:thproximal" pos="0 0 0">
<inertial pos="0 0 0.017" quat="0.981604 0 0.000999597 0.190923" mass="0.016" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:THJ3" pos="0 0 0" axis="1 0 0" range="0 1.222" user="1120" />
<geom name="robot0:C_thproximal" class="robot0:DC_Hand" size="0.013 0.019" pos="0 0 0.019" type="capsule" rgba="0.4 0.5 0.6 0.1" />
<body name="robot0:thhub" pos="0 0 0.038">
<inertial pos="0 0 0" mass="0.002" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:THJ2" pos="0 0 0" axis="1 0 0" range="-0.209 0.209" user="1119" />
<geom name="robot0:V_thhub" size="0.001 0.001 0.001" type="box" group="1" />
<body name="robot0:thmiddle" pos="0 0 0">
<inertial pos="0 0 0.016" quat="0.999971 -0.000999971 -0.00699979 0.00299991" mass="0.016" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:THJ1" pos="0 0 0" axis="0 1 0" range="-0.524 0.524" user="1118" />
<geom name="robot0:C_thmiddle" class="robot0:DC_Hand" size="0.011 0.016" pos="0 0 0.016" type="capsule" />
<body name="robot0:thdistal" pos="0 0 0.032">
<inertial pos="0 0 0.016" quat="0.99887 -0.00499935 -0.0469939 0.00499935" mass="0.016" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:THJ0" pos="0 0 0" axis="0 1 0" range="-1.571 0" user="1117" />
<geom name="robot0:C_thdistal" class="robot0:DC_Hand" size="0.00918 0.013" pos="0 0 0.013" type="capsule" condim="4" />
<site name="robot0:S_thtip" pos="0 0 0.0275" group="3" />
<site name="robot0:Tch_thtip" class="robot0:D_Touch" pos="-0.005 0 0.02" size="0.005 0.011 0.016" />
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<pair geom1="robot0:C_palm0" geom2="robot0:C_thdistal" condim="1" />
<pair geom1="robot0:C_ffproximal" geom2="robot0:C_mfproximal" condim="1" />
<pair geom1="robot0:C_ffproximal" geom2="robot0:C_thdistal" condim="1" />
<pair geom1="robot0:C_ffmiddle" geom2="robot0:C_thdistal" condim="1" />
<pair geom1="robot0:C_ffdistal" geom2="robot0:C_mfdistal" condim="1" />
<pair geom1="robot0:C_ffdistal" geom2="robot0:C_thdistal" condim="1" />
<pair geom1="robot0:C_mfproximal" geom2="robot0:C_rfproximal" condim="1" />
<pair geom1="robot0:C_mfproximal" geom2="robot0:C_thdistal" condim="1" />
<pair geom1="robot0:C_mfdistal" geom2="robot0:C_rfdistal" condim="1" />
<pair geom1="robot0:C_mfdistal" geom2="robot0:C_lfdistal" condim="1" />
<pair geom1="robot0:C_mfdistal" geom2="robot0:C_thdistal" condim="1" />
<pair geom1="robot0:C_rfproximal" geom2="robot0:C_lfproximal" condim="1" />
<pair geom1="robot0:C_rfmiddle" geom2="robot0:C_lfmiddle" condim="1" />
<pair geom1="robot0:C_rfmiddle" geom2="robot0:C_lfdistal" condim="1" />
<pair geom1="robot0:C_rfdistal" geom2="robot0:C_lfmiddle" condim="1" />
<pair geom1="robot0:C_rfdistal" geom2="robot0:C_lfdistal" condim="1" />
<pair geom1="robot0:C_rfdistal" geom2="robot0:C_lfdistal" condim="1" />
<pair geom1="robot0:C_rfdistal" geom2="robot0:C_thdistal" condim="1" />
<pair geom1="robot0:C_lfdistal" geom2="robot0:C_thdistal" condim="1" />
</contact>
<tendon>
<fixed name="robot0:T_FFJ1c" limited="true" range="-0.001 0.001">
<joint joint="robot0:FFJ0" coef="0.00705" />
<joint joint="robot0:FFJ1" coef="-0.00805" />
</fixed>
<fixed name="robot0:T_MFJ1c" limited="true" range="-0.001 0.001">
<joint joint="robot0:MFJ0" coef="0.00705" />
<joint joint="robot0:MFJ1" coef="-0.00805" />
</fixed>
<fixed name="robot0:T_RFJ1c" limited="true" range="-0.001 0.001">
<joint joint="robot0:RFJ0" coef="0.00705" />
<joint joint="robot0:RFJ1" coef="-0.00805" />
</fixed>
<fixed name="robot0:T_LFJ1c" limited="true" range="-0.001 0.001">
<joint joint="robot0:LFJ0" coef="0.00705" />
<joint joint="robot0:LFJ1" coef="-0.00805" />
</fixed>
</tendon>
<actuator>
<general name="robot0:A_WRJ1" class="robot0:asset_class" joint="robot0:WRJ1" ctrlrange="-0.489 0.14" forcerange="-4.785 4.785" biastype="affine" gainprm="5 0 0 0 0 0 0 0 0 0" biasprm="0 -5 0 0 0 0 0 0 0 0" user="2038 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<general name="robot0:A_WRJ0" class="robot0:asset_class" joint="robot0:WRJ0" ctrlrange="-0.698 0.489" forcerange="-2.175 2.175" biastype="affine" gainprm="5 0 0 0 0 0 0 0 0 0" biasprm="0 -5 0 0 0 0 0 0 0 0" user="2036 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<general name="robot0:A_FFJ3" class="robot0:asset_class" joint="robot0:FFJ3" ctrlrange="-0.349 0.349" forcerange="-0.9 0.9" biastype="affine" biasprm="0 -1 0 0 0 0 0 0 0 0" user="2004 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<general name="robot0:A_FFJ2" class="robot0:asset_class" joint="robot0:FFJ2" ctrlrange="0 1.571" forcerange="-0.9 0.9" biastype="affine" biasprm="0 -1 0 0 0 0 0 0 0 0" user="2002 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<general name="robot0:A_FFJ1" class="robot0:asset_class" joint="robot0:FFJ1" ctrlrange="0 1.571" forcerange="-0.7245 0.7245" biastype="affine" biasprm="0 -1 0 0 0 0 0 0 0 0" user="2000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<general name="robot0:A_MFJ3" class="robot0:asset_class" joint="robot0:MFJ3" ctrlrange="-0.349 0.349" forcerange="-0.9 0.9" biastype="affine" biasprm="0 -1 0 0 0 0 0 0 0 0" user="2010 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<general name="robot0:A_MFJ2" class="robot0:asset_class" joint="robot0:MFJ2" ctrlrange="0 1.571" forcerange="-0.9 0.9" biastype="affine" biasprm="0 -1 0 0 0 0 0 0 0 0" user="2008 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<general name="robot0:A_MFJ1" class="robot0:asset_class" joint="robot0:MFJ1" ctrlrange="0 1.571" forcerange="-0.7245 0.7245" biastype="affine" biasprm="0 -1 0 0 0 0 0 0 0 0" user="2006 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<general name="robot0:A_RFJ3" class="robot0:asset_class" joint="robot0:RFJ3" ctrlrange="-0.349 0.349" forcerange="-0.9 0.9" biastype="affine" biasprm="0 -1 0 0 0 0 0 0 0 0" user="2016 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<general name="robot0:A_RFJ2" class="robot0:asset_class" joint="robot0:RFJ2" ctrlrange="0 1.571" forcerange="-0.9 0.9" biastype="affine" biasprm="0 -1 0 0 0 0 0 0 0 0" user="2014 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<general name="robot0:A_RFJ1" class="robot0:asset_class" joint="robot0:RFJ1" ctrlrange="0 1.571" forcerange="-0.7245 0.7245" biastype="affine" biasprm="0 -1 0 0 0 0 0 0 0 0" user="2012 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<general name="robot0:A_LFJ4" class="robot0:asset_class" joint="robot0:LFJ4" ctrlrange="0 0.785" forcerange="-0.9 0.9" biastype="affine" biasprm="0 -1 0 0 0 0 0 0 0 0" user="2024 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<general name="robot0:A_LFJ3" class="robot0:asset_class" joint="robot0:LFJ3" ctrlrange="-0.349 0.349" forcerange="-0.9 0.9" biastype="affine" biasprm="0 -1 0 0 0 0 0 0 0 0" user="2022 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<general name="robot0:A_LFJ2" class="robot0:asset_class" joint="robot0:LFJ2" ctrlrange="0 1.571" forcerange="-0.9 0.9" biastype="affine" biasprm="0 -1 0 0 0 0 0 0 0 0" user="2020 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<general name="robot0:A_LFJ1" class="robot0:asset_class" joint="robot0:LFJ1" ctrlrange="0 1.571" forcerange="-0.7245 0.7245" biastype="affine" biasprm="0 -1 0 0 0 0 0 0 0 0" user="2018 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<general name="robot0:A_THJ4" class="robot0:asset_class" joint="robot0:THJ4" ctrlrange="-1.047 1.047" forcerange="-2.3722 2.3722" biastype="affine" biasprm="0 -1 0 0 0 0 0 0 0 0" user="2034 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<general name="robot0:A_THJ3" class="robot0:asset_class" joint="robot0:THJ3" ctrlrange="0 1.222" forcerange="-1.45 1.45" biastype="affine" biasprm="0 -1 0 0 0 0 0 0 0 0" user="2032 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<general name="robot0:A_THJ2" class="robot0:asset_class" joint="robot0:THJ2" ctrlrange="-0.209 0.209" forcerange="-0.99 0.99" biastype="affine" biasprm="0 -1 0 0 0 0 0 0 0 0" user="2030 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<general name="robot0:A_THJ1" class="robot0:asset_class" joint="robot0:THJ1" ctrlrange="-0.524 0.524" forcerange="-0.99 0.99" biastype="affine" biasprm="0 -1 0 0 0 0 0 0 0 0" user="2028 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<general name="robot0:A_THJ0" class="robot0:asset_class" joint="robot0:THJ0" ctrlrange="-1.571 0" forcerange="-0.81 0.81" biastype="affine" biasprm="0 -1 0 0 0 0 0 0 0 0" user="2026 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
</actuator>
<sensor>
<jointpos joint="robot0:WRJ1" name="robot0:Sjp_WRJ1" />
<jointpos joint="robot0:WRJ0" name="robot0:Sjp_WRJ0" />
<jointpos joint="robot0:FFJ3" name="robot0:Sjp_FFJ3" />
<jointpos joint="robot0:FFJ2" name="robot0:Sjp_FFJ2" />
<jointpos joint="robot0:FFJ1" name="robot0:Sjp_FFJ1" />
<jointpos joint="robot0:FFJ0" name="robot0:Sjp_FFJ0" />
<jointpos joint="robot0:MFJ3" name="robot0:Sjp_MFJ3" />
<jointpos joint="robot0:MFJ2" name="robot0:Sjp_MFJ2" />
<jointpos joint="robot0:MFJ1" name="robot0:Sjp_MFJ1" />
<jointpos joint="robot0:MFJ0" name="robot0:Sjp_MFJ0" />
<jointpos joint="robot0:RFJ3" name="robot0:Sjp_RFJ3" />
<jointpos joint="robot0:RFJ2" name="robot0:Sjp_RFJ2" />
<jointpos joint="robot0:RFJ1" name="robot0:Sjp_RFJ1" />
<jointpos joint="robot0:RFJ0" name="robot0:Sjp_RFJ0" />
<jointpos joint="robot0:LFJ4" name="robot0:Sjp_LFJ4" />
<jointpos joint="robot0:LFJ3" name="robot0:Sjp_LFJ3" />
<jointpos joint="robot0:LFJ2" name="robot0:Sjp_LFJ2" />
<jointpos joint="robot0:LFJ1" name="robot0:Sjp_LFJ1" />
<jointpos joint="robot0:LFJ0" name="robot0:Sjp_LFJ0" />
<jointpos joint="robot0:THJ4" name="robot0:Sjp_THJ4" />
<jointpos joint="robot0:THJ3" name="robot0:Sjp_THJ3" />
<jointpos joint="robot0:THJ2" name="robot0:Sjp_THJ2" />
<jointpos joint="robot0:THJ1" name="robot0:Sjp_THJ1" />
<jointpos joint="robot0:THJ0" name="robot0:Sjp_THJ0" />
<touch site="robot0:Tch_fftip" name="robot0:ST_Tch_fftip" />
<touch site="robot0:Tch_mftip" name="robot0:ST_Tch_mftip" />
<touch site="robot0:Tch_rftip" name="robot0:ST_Tch_rftip" />
<touch site="robot0:Tch_lftip" name="robot0:ST_Tch_lftip" />
<touch site="robot0:Tch_thtip" name="robot0:ST_Tch_thtip" />
</sensor>
</mujoco>