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sjchoi86/right_hand_simple.xml

Created August 24, 2025 03:03
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right_hand_simple.xml
<mujoco model="right_mano_hand">
<compiler angle="radian" meshdir="." autolimits="true"/>
<option cone="elliptic" impratio="10"/>
<option timestep="0.002" integrator="implicitfast" />
<asset>
<!-- Skin textures -->
<texture name="tex_skin_light" type="2d" builtin="flat" width="1" height="1" rgb1="0.96 0.79 0.70" rgb2="0.96 0.79 0.70"/>
<texture name="tex_skin_medium" type="2d" builtin="flat" width="1" height="1" rgb1="0.86 0.64 0.52" rgb2="0.86 0.64 0.52"/>
<texture name="tex_skin_tan" type="2d" builtin="flat" width="1" height="1" rgb1="0.74 0.55 0.43" rgb2="0.74 0.55 0.43"/>
<texture name="tex_skin_dark" type="2d" builtin="flat" width="1" height="1" rgb1="0.52 0.38 0.30" rgb2="0.52 0.38 0.30"/>
<!-- Hand material (semi-transparent) -->
<material name="hand_color" rgba="1 1 1 0.5" specular="0.12" shininess="30.0" texture="tex_skin_dark"/>
<!-- Meshes -->
<mesh file="mesh/right_wrist.stl"/>
<mesh file="mesh/right_index1.stl"/>
<mesh file="mesh/right_index2.stl"/>
<mesh file="mesh/right_index3.stl"/>
<mesh file="mesh/right_middle1.stl"/>
<mesh file="mesh/right_middle2.stl"/>
<mesh file="mesh/right_middle3.stl"/>
<mesh file="mesh/right_pinky1.stl"/>
<mesh file="mesh/right_pinky2.stl"/>
<mesh file="mesh/right_pinky3.stl"/>
<mesh file="mesh/right_ring1.stl"/>
<mesh file="mesh/right_ring2.stl"/>
<mesh file="mesh/right_ring3.stl"/>
<mesh file="mesh/right_thumb1.stl"/>
<mesh file="mesh/right_thumb2.stl"/>
<mesh file="mesh/right_thumb3.stl"/>
</asset>
<worldbody>
<body name="vt_body">
<body name="world_to_body" euler="0 1.57079633 1.57079633">
<body name="mano_rh_palm" pos="-0.09566994 -0.0063834 -0.0061863">
<inertial mass="0.3" pos="0 0 0" quat="1 0 0 0" diaginertia="1.638e-05 1.45e-05 4.272e-06"/>
<!-- wrist visual -->
<geom type="mesh" material="hand_color" contype="0" conaffinity="0" mesh="right_wrist"/>
<!-- index finger -->
<body name="rh_index1" pos="0.007572681 0.0011830716 0.02687229">
<inertial mass="0.008858" pos="0 0 0" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
<geom type="mesh" material="hand_color" contype="0" conaffinity="0" mesh="right_index1" pos="-0.007572658 0.0011830729 -0.02687229"/>
<geom name="rindex1-rindex2" type="capsule" fromto="0 0.003009355790913105 0 -0.02667890214920044 0.006009355790913105 0.002217065542936325" size="0.00933" />
<!-- <joint name="index1_x" axis=" 0.97192 0.057372 -0.22821" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<joint name="index1_y" axis="-0.055853 0.99835 0.013115" range="-0.5 0.5" damping="0.05" armature="0.0002" frictionloss="0.01"/>
<joint name="index1_z" axis="0.22859 0. 0.97352" range="-0.3 1.5" damping="0.05" armature="0.0002" frictionloss="0.01"/>
<body name="rh_index2" pos="-0.03267890214920044 0.004009355790913105 0.002217065542936325">
<inertial mass="0.0042996" pos="0 0 0" quat="1 0 0 0" diaginertia="1.54e-07 2.2365e-07 2.0462e-07"/>
<!-- <joint name="index2_x" axis="0.99031 -0.1215 -0.067187" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<!-- <joint name="index2_y" axis="0.12122 0.99259 -0.0082242" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<joint name="index2_z" axis="0.067688 0. 0.99771" range="0 2.0" damping="0.05" armature="0.0002" frictionloss="0.01"/>
<geom type="mesh" material="hand_color" contype="0" conaffinity="0" mesh="right_index2" pos="0.02510622 -0.00519243 -0.02908936"/>
<geom name="rindex2-rindex3" type="capsule" fromto="0 0 0 -0.01815591073036194 -0.001298423390835524 -0.000114118680357933" size="0.0075" />
<body name="rh_index3" pos="-0.02215591073036194 -0.001298423390835524 -0.000114118680357933">
<inertial mass="0.0030957" pos="0 0 0" quat="1 0 0 0" diaginertia="1.54e-07 2.2365e-07 2.0462e-07"/>
<!-- <joint name="index3_x" axis="0.99827 0.058503 0.0051414" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<!-- <joint name="index3_y" axis="-5.8502e-02 9.9829e-01 -3.0130e-04" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<joint name="index3_z" axis="-0.0051502 0. 0.99999" range="0 1.0" damping="0.05" armature="0.0002" frictionloss="0.01"/>
<geom type="mesh" material="hand_color" contype="0" conaffinity="0" mesh="right_index3" pos="0.04726213 -0.003894 -0.02897524"/>
<geom name="rindex3-rindex4" type="capsule" fromto="0 0 0 -0.019482177734375 0.000184116583317518 -0.0005013830959796906" size="0.007" />
<site name="rh_index_tip_site" pos="-0.018482177734375 -0.005815883416682482 -0.0005013830959796906" size="0.01" type="sphere" rgba="1 0 0 1" />
</body>
</body>
</body>
<!-- middle -->
<body name="rh_middle1" pos="0.001009486615657806 0.00490446574985981 0.002828764962032437">
<!-- <joint name="middle1_x" axis="0.99925 0.015612 0.035443" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<joint name="middle1_y" axis="-1.5602e-02 9.9988e-01 -5.5340e-04" range="-0.5 0.5" damping="0.05" armature="0.0002" frictionloss="0.01"/>
<joint name="middle1_z" axis="-0.035447 0. 0.99937" range="-0.3 1.5" damping="0.05" armature="0.0002" frictionloss="0.01"/>
<inertial mass="0.0104123" pos="0 0 0" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
<geom type="mesh" material="hand_color" contype="0" conaffinity="0" mesh="right_middle1" pos="-0.001009486615657806 -0.00490446574985981 -0.002828764962032437"/>
<geom name="rmiddle1-rmiddle2" type="capsule" fromto="0 0 0 -0.02618266724050045 0.001861328259110451 -0.005594509653747082" size="0.00899" />
<body name="rh_middle2" pos="-0.03118266724050045 0.001861328259110451 -0.005594509653747082">
<inertial mass="0.004134916" pos="0 0 0" quat="1 0 0 0" diaginertia="1.54e-07 2.2365e-07 2.0462e-07"/>
<!-- <joint name="middle2_x" axis="0.98259 -0.058652 0.17629 " range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<!-- <joint name="middle2_y" axis="0.05773 0.99828 0.010357" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<joint name="middle2_z" axis="-0.17659 0. 0.98428" range="0 2" damping="0.05" armature="0.0002" frictionloss="0.01"/>
<geom type="mesh" material="hand_color" contype="0" conaffinity="0" mesh="right_middle2" pos="0.03017318 -0.00676579 0.00276574"/>
<geom name="rmiddle2-rmiddle3" type="capsule" fromto="0 0 0 -0.01890463633835316 -0.00125210452824831 -0.003944513387978077" size="0.0075" />
<body name="rh_middle3" pos="-0.02290463633835316 -0.00125210452824831 -0.003944513387978077">
<inertial mass="0.00301659" pos="0 0 0" quat="1 0 0 0" diaginertia="1.54e-07 2.2365e-07 2.0462e-07"/>
<!-- <joint name="middle3_x" axis="0.98407 0.053795 0.16947" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<!-- <joint name="middle3_y" axis="-0.053014 0.99855 -0.0091299" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<joint name="middle3_z" axis="-0.16972 0. 0.98549" range="0 1" damping="0.05" armature="0.0002" frictionloss="0.01"/>
<geom type="mesh" material="hand_color" contype="0" conaffinity="0" mesh="right_middle3" pos="0.05307782 -0.00551369 0.00671026"/>
<geom name="rmiddle3-rmiddle4" type="capsule" fromto="0 0 0 -0.0186921648979187 -0.001346850246191025 -0.004136247560381889" size="0.0075" />
<site name="rh_middle_tip_site" pos="-0.0176921648979187 -0.008153149753808975 -0.004136247560381889" size="0.01" type="sphere" rgba="1 0 0 1" />
</body>
</body>
</body>
<!-- ring -->
<body name="rh_ring1" pos="0.01393437385559082 0.002426007762551308 -0.02048688568174839">
<!-- <joint name="ring1_x" axis="0.94965 0.04598 0.30991" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<inertial mass="0.007566219" pos="0 0 0" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
<body name="rh_ring1_y">
<inertial mass="0.008" pos="0 0 0" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
<joint name="ring1_y" axis="-0.043711 0.99894 -0.014264" range="-0.5 0.5" damping="0.05" armature="0.0002" frictionloss="0.01"/>
<body name="rh_ring1_z">
<inertial mass="0.008" pos="0 0 0" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
<joint name="ring1_z" axis="-0.31023 0. 0.95066" range="-0.3 1.5" damping="0.05" armature="0.0002" frictionloss="0.01"/>
<geom type="mesh" material="hand_color" contype="0" conaffinity="0" mesh="right_ring1" pos="-0.01393437385559082 -0.002426007762551308 0.02048688568174839"/>
<geom name="rring1-rring2" type="capsule" fromto="0 0 0 -0.02231427380442619 0.002067007124423981 -0.005098538473248482" size="0.008666" />
<body name="rh_ring2" pos="-0.02831427380442619 0.002067007124423981 -0.005098538473248482">
<inertial mass="0.005029987" pos="0 0 0" quat="1 0 0 0" diaginertia="1.54e-07 2.2365e-07 2.0462e-07"/>
<!-- <joint name="ring2_x" axis="0.98164 -0.071662 0.17676" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<body name="rh_ring2_y">
<inertial mass="0.005029987" pos="0 0 0" quat="1 0 0 0" diaginertia="1.54e-07 2.2365e-07 2.0462e-07"/>
<!-- <joint name="ring2_y" axis="0.070528 0.99743 0.0127 " range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<body name="rh_ring2_z">
<joint name="ring2_z" axis="-0.17722 0. 0.98417" range="0 2" damping="0.05" armature="0.0002" frictionloss="0.01"/>
<inertial mass="0.005029987" pos="0 0 0" quat="1 0 0 0" diaginertia="1.54e-07 2.2365e-07 2.0462e-07"/>
<geom type="mesh" material="hand_color" contype="0" conaffinity="0" mesh="right_ring2" pos=" 0.0143799 -0.00449301 0.02558542"/>
<geom name="rring2-rring3" type="capsule" fromto="0 0 0 -0.01952051809430122 -0.001688111573457718 -0.007633816450834274" size="0.0075" />
<body name="rh_ring3" pos="-0.02352051809430122 -0.001688111573457718 -0.007633816450834274">
<inertial mass="0.002881347" pos="0 0 0" quat="1 0 0 0" diaginertia="1.54e-07 2.2365e-07 2.0462e-07"/>
<!-- <joint name="ring3_x" axis="0.94895 0.068108 0.30799" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<body name="rh_ring3_y">
<inertial mass="0.002881347" pos="0 0 0" quat="1 0 0 0" diaginertia="1.54e-07 2.2365e-07 2.0462e-07"/>
<!-- <joint name="ring3_y" axis="-0.064781 0.99768 -0.021025" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<body name="rh_ring3_z">
<inertial mass="0.002881347" pos="0 0 0" quat="1 0 0 0" diaginertia="1.54e-07 2.2365e-07 2.0462e-07"/>
<joint name="ring3_z" axis="-0.30871 0. 0.95116" range="0 1" damping="0.05" armature="0.0002" frictionloss="0.01"/>
<geom type="mesh" material="hand_color" contype="0" conaffinity="0" mesh="right_ring3" pos="0.03790042 -0.0028049 0.03321924"/>
<geom name="rring3-rring4" type="capsule" fromto="0 0 0 -0.01543568781018257 0.001858924377709627 -0.005340483367443085" size="0.0075" />
<site name="rh_ring_tip_site" pos="-0.01443568781018257 -0.005141075622290373 -0.005090483367443085" size="0.01" type="sphere" rgba="1 0 0 1" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!-- pinky -->
<body name="rh_pinky1" pos="0.02688296139240265 -0.003556899726390839 -0.03702303022146225">
<!-- <joint name="pinky1_x" axis="0.84052 0.12146 0.52798" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<joint name="pinky1_y" axis="-0.10285 0.9926 -0.064609" range="-0.5 0.5" damping="0.05" armature="0.0002" frictionloss="0.01"/>
<joint name="pinky1_z" axis="-0.53192 0. 0.84679" range="-0.3 1.5" damping="0.05" armature="0.0002" frictionloss="0.01"/>
<inertial mass="0.0042968937" pos="0 0 0" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
<geom type="mesh" material="hand_color" contype="0" conaffinity="0" mesh="right_pinky1" pos="-0.02688296139240265 0.003556899726390839 0.03702303022146225"/>
<geom name="rpinky1-rpinky2" type="capsule" fromto="0 0 0 -0.01301441034674644 6.182515062391758e-04 -0.01249878108501434" size="0.00833" />
<body name="rh_pinky2" pos="-0.01701441034674644 6.182515062391758e-05 -0.01249878108501434">
<inertial mass="0.002781613" pos="0 0 0" quat="1 0 0 0" diaginertia="1.54e-07 2.2365e-07 2.0462e-07"/>
<!-- <joint name="pinky2_x" axis="0.80591 -0.0029284 0.59202" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<!-- <joint name="pinky2_y" axis="0.0023601 1. 0.0017337" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<joint name="pinky2_z" axis="-0.59203 0. 0.80592" range="0 2" damping="0.05" armature="0.0002" frictionloss="0.01"/>
<geom type="mesh" material="hand_color" contype="0" conaffinity="0" mesh="right_pinky2" pos="-0.00986855 0.00349507 0.04952181"/>
<geom name="rpinky2-rpinky3" type="capsule" fromto="0 0 0 -0.01286690172553062 -0.0002911561358720064 -0.0103319026529789" size="0.0075" />
<body name="rh_pinky3" pos="-0.01586690172553062 -0.0006911561358720064 -0.0103319026529789">
<inertial mass="0.0015660578" pos="0 0 0" quat="1 0 0 0" diaginertia="1.54e-07 2.2365e-07 2.0462e-07"/>
<!-- <joint name="pinky3_x" axis="0.83744 0.036479 0.54531 " range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<!-- <joint name="pinky3_y" axis="-0.030569 0.99933 -0.019905" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<joint name="pinky3_z" axis="-0.54567 0. 0.838 " range="0 1" damping="0.05" armature="0.0002" frictionloss="0.01"/>
<geom type="mesh" material="hand_color" contype="0" conaffinity="0" mesh="right_pinky3" pos="0.00599835 0.00418623 0.05985371"/>
<geom name="rpinky3-rpinky4" type="capsule" fromto="0 0 0 -0.01309342189133167 -0.001048676285892725 -0.00631537726521492" size="0.0055" />
<site name="rh_pinky_tip_site" pos="-0.00709342189133167 -0.005451323714107275 -0.0038153772652149195" size="0.01" type="sphere" rgba="1 0 0 1" />
</body>
</body>
</body>
<!-- thumb -->
<body name="rh_thumb1" pos="0.07158022373914719 -0.009138905443251133 0.03199914842844009">
<!-- <joint name="thumb1_x" axis="0.62459 0.40246 -0.66927" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<joint name="thumb1_y" axis="0.45821 0.50511 0.73137" range="0 1.63" damping="0.05" armature="0.0002" frictionloss="0.01"/>
<joint name="thumb1_z" axis="0.6324 -0.76347 0.13107" range="-0.92 1.02" damping="0.05" armature="0.0002" frictionloss="0.01"/>
<inertial mass="0.0138909552" pos="0 0 0" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
<geom type="mesh" material="hand_color" contype="0" conaffinity="0" mesh="right_thumb1" pos="-0.07158022373914719 0.009138905443251133 -0.03199914842844009"/>
<geom name="rthumb1-rthumb2" type="capsule" fromto="0 0 0 -0.01663324472308159 0.0008912868797779083 0.0206995555460453" size="0.011" />
<body name="rh_thumb2" pos="-0.01963324472308159 0.0008912868797779083 0.0236995555460453">
<inertial mass="0.0081751789" pos="0 0 0" quat="1 0 0 0" diaginertia="1.54e-07 2.2365e-07 2.0462e-07"/>
<!-- <joint name="thumb2_x" axis="0.63768 -0.028949 -0.76975" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<!-- <joint name="thumb2_y" axis="0.6394 0.57716 0.50799" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<joint name="thumb2_z" axis=" 0.42956 -0.81612 0.38655" range="0 2" damping="0.05" armature="0.0002" frictionloss="0.01"/>
<geom type="mesh" material="hand_color" contype="0" conaffinity="0" mesh="right_thumb2" pos="-0.05194698 0.00824762 -0.0556987 "/>
<geom name="rthumb2-rthumb3" type="capsule" fromto="0 0 0 -0.01721773564815521 -0.005432971753180027 0.01452412083745003" size="0.01" />
<body name="rh_thumb3" pos="-0.02221773564815521 -0.005432971753180027 0.01452412083745003">
<inertial mass="0.007477723" pos="0 0 0" quat="1 0 0 0" diaginertia="1.54e-07 2.2365e-07 2.0462e-07"/>
<!-- <joint name="thumb3_x" axis="0.82002 0.20052 -0.53606" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<!-- <joint name="thumb3_y" axis="0.36245 0.54293 0.75753" range="0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> -->
<joint name="thumb3_z" axis="0.44295 -0.81548 0.37254" range="0 1" damping="0.05" armature="0.0002" frictionloss="0.01"/>
<geom type="mesh" material="hand_color" contype="0" conaffinity="0" mesh="right_thumb3" pos="-0.02972924 0.01368059 -0.07022282"/>
<geom name="rthumb3-rthumb4" type="capsule" fromto="0 0 0 -0.02001354569196701 -0.005678442746400833 0.01788214319944382" size="0.009" />
<site name="rh_thumb_tip_site" pos="-0.02601354569196701 -0.002678442746400833 0.01188214319944382" size="0.01" type="sphere" rgba="1 0 0 1" />
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
</actuator>
<equality>
<joint joint1="index3_z" joint2="index2_z" polycoef="0 0.5 0 0 0" active="true"/>
<joint joint1="middle3_z" joint2="middle2_z" polycoef="0 0.5 0 0 0" active="true"/>
<joint joint1="ring3_z" joint2="ring2_z" polycoef="0 0.5 0 0 0" active="true"/>
<joint joint1="pinky3_z" joint2="pinky2_z" polycoef="0 0.5 0 0 0" active="true"/>
<joint joint1="thumb3_z" joint2="thumb2_z" polycoef="0 0.5 0 0 0" active="true"/>
</equality>
<contact>
<exclude body1="rh_ring1_z" body2="rh_ring2_z"/>
<exclude body1="rh_ring2_z" body2="rh_ring3_z"/>
</contact>
<sensor>
<touch name="rh_thumb_tip_sensor" site="rh_thumb_tip_site"/>
<touch name="rh_index_tip_sensor" site="rh_index_tip_site"/>
<touch name="rh_middle_tip_sensor" site="rh_middle_tip_site"/>
<touch name="rh_ring_tip_sensor" site="rh_ring_tip_site"/>
<touch name="rh_pinky_tip_sensor" site="rh_pinky_tip_site"/>
</sensor>
</mujoco>
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