assets/dactyl.xml

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                                        <geom name="robot0:lfmiddle" class="robot0:D_Visual" material="randomize19" mesh="robot0:F2" />
                                        <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" springref="-1" stiffness="0.01" range="0 1.571" user="1112" />
                                            <geom name="robot0:lfdistal" class="robot0:D_Visual" pos="0 0 0.001" material="randomize20" mesh="robot0:F1" />
                                            <site name="robot0:S_lftip" class="robot0:D_PhasespaceSite" pos="0 0.004 0.027" />
                                            <site name="robot0:Tch_lftip" class="robot0:D_TouchVisual" pos="0 -0.002 0.02" />
                                        </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 0.5" damping="0.2" frictionloss="0.02" user="1121" />
                            <geom name="robot0:thbase" class="robot0:D_Visual" size="0.001 0.001 0.001" type="box" material="randomize21" />
                            <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" damping="0.2" frictionloss="0.003" user="1120" />
                                <geom name="robot0:thproximal" class="robot0:D_Visual" material="randomize22" mesh="robot0:TH3_z" />
                                <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 0.155" damping="0.1" frictionloss="0.009" user="1119" />
                                    <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="-0.583 0.524" damping="0.2" frictionloss="0.01" user="1118" />
                                        <geom name="robot0:thmiddle" class="robot0:D_Visual" material="randomize23" mesh="robot0:TH2_z" />
                                        <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" damping="0.18" frictionloss="0.01" user="1117" />
                                            <geom name="robot0:thdistal" class="robot0:D_Visual" material="randomize24" mesh="robot0:TH1_z" />
                                            <site name="robot0:S_thtip" class="robot0:D_PhasespaceSite" pos="0.007 0 0.028" />
                                            <site name="robot0:Tch_thtip" class="robot0:D_TouchVisual" pos="0 -0.002 0.02" />
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
        <body name="cube:middle" pos="1 0.87 0.2">
            <inertial pos="0 0 0" mass="0.0779663" diaginertia="4.22187e-05 4.22187e-05 4.22187e-05" />
            <joint name="cube:cube_tx" pos="0 0 0" axis="1 0 0" type="slide" />
            <joint name="cube:cube_ty" pos="0 0 0" axis="0 1 0" type="slide" />
            <joint name="cube:cube_tz" pos="0 0 0" axis="0 0 1" type="slide" />
            <joint name="cube:cube_rot" pos="0 0 0" type="ball" />
            <geom name="cube:middle" size="0.0285 0.0285 0.0285" type="box" condim="4" rgba="1 1 1 0" />
            <site name="cube:center" pos="0 0 0" size="0.01" rgba="1 0 0 1" />
            <body name="cube:face_top" pos="0 0 0.0285">
                <inertial pos="0.000595079 0.00164079 -0.000370523" quat="0.500726 0.499393 -0.50038 0.4995" mass="0.000373826" diaginertia="6.62941e-08 3.94433e-08 2.69113e-08" />
                <geom name="cube:face_top_bg" size="0.0285 0.0285 1e-05" type="box" material="cube:top_background" />
                <geom name="cube:A" pos="0 0 -0.0009" quat="0.499998 0.5 -0.500002 0.5" type="mesh" contype="0" conaffinity="0" material="cube:letter" mesh="cube:A" />
            </body>
            <body name="cube:face_bottom" pos="0 0 -0.0285">
                <inertial pos="1.24617e-09 8.53097e-05 0.000863356" quat="0.499994 0.500006 -0.500006 0.499994" mass="0.000671887" diaginertia="1.31161e-07 1.03285e-07 2.82861e-08" />
                <geom name="cube:face_bottom_bg" size="0.0285 0.0285 1e-05" type="box" contype="0" conaffinity="0" material="cube:bottom_background" />
                <geom name="cube:I" pos="0 0 0.0009" quat="0.499998 0.5 -0.500002 0.5" type="mesh" contype="0" conaffinity="0" material="cube:letter" mesh="cube:I" />
            </body>
            <body name="cube:face_back" pos="0 0.0285 0">
                <inertial pos="-1.11494e-07 -0.000867464 -6.0545e-09" quat="0.707107 0 0 0.707107" mass="0.000756733" diaginertia="1.32726e-07 7.57913e-08 5.73753e-08" />
                <geom name="cube:face_back_bg" size="0.0285 1e-05 0.0285" type="box" contype="0" conaffinity="0" material="cube:back_background" />
                <geom name="cube:O" pos="0 -0.0009 0" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" material="cube:letter" mesh="cube:O" />
            </body>
            <body name="cube:face_right" pos="0.0285 0 0">
                <inertial pos="-0.000873209 1.17101e-09 -1.76614e-09" quat="0.473764 0.880652 0 0" mass="0.000918988" diaginertia="1.81249e-07 9.25108e-08 8.93128e-08" />
                <geom name="cube:face_right_bg" size="1e-05 0.0285 0.0285" type="box" contype="0" conaffinity="0" material="cube:right_background" />
                <geom name="cube:N" pos="-0.0009 0 0" type="mesh" contype="0" conaffinity="0" material="cube:letter" mesh="cube:N" />
            </body>
            <body name="cube:face_front" pos="0 -0.0285 0">
                <inertial pos="-0.000137518 0.000867936 -6.974e-05" quat="0.707135 -5.65814e-05 -6.85566e-05 0.707078" mass="0.000767854" diaginertia="1.45799e-07 1.01854e-07 4.44071e-08" />
                <geom name="cube:face_front_bg" size="0.0285 1e-05 0.0285" type="box" contype="0" conaffinity="0" material="cube:front_background" />
                <geom name="cube:E" pos="0 0.0009 0" quat="0.707105 0 0 -0.707108" type="mesh" contype="0" conaffinity="0" material="cube:letter" mesh="cube:E" />
            </body>
            <body name="cube:face_left" pos="-0.0285 0 0">
                <inertial pos="0.000864451 0.000520545 0.00344325" quat="0.962227 0.272246 0.00062095 -0.000519875" mass="0.000692549" diaginertia="1.13547e-07 7.21527e-08 4.18249e-08" />
                <geom name="cube:face_left_bg" size="1e-05 0.0285 0.0285" type="box" contype="0" conaffinity="0" material="cube:left_background" />
                <geom name="cube:P" pos="0.0009 0 0" quat="1.32679e-06 0 0 1" type="mesh" contype="0" conaffinity="0" material="cube:letter" mesh="cube:P" />
            </body>
        </body>
        <body name="real_floor" pos="1 1 0.0005">
            <inertial pos="0 0 0" mass="1" diaginertia="0.0833334 0.0833334 0.166667" />
            <geom name="real_floor" size="0.5 0.5 0.0005" type="box" material="randomize25" />
        </body>
    </worldbody>
    <contact>
        <exclude body1="robot0:forearm" body2="robot0:wrist" />
        <exclude body1="robot0:palm" body2="robot0:ffproximal" />
        <exclude body1="robot0:palm" body2="robot0:mfproximal" />
        <exclude body1="robot0:palm" body2="robot0:rfproximal" />
        <exclude body1="robot0:palm" body2="robot0:thproximal" />
        <exclude body1="robot0:lfmetacarpal" body2="robot0:lfproximal" />
        <exclude body1="robot0:thproximal" body2="robot0:thmiddle" />
    </contact>
    <tendon>
        <fixed name="robot0:FFT0" limited="true" range="0 1.6">
            <joint joint="robot0:FFJ1" coef="1" />
            <joint joint="robot0:FFJ0" coef="-1" />
        </fixed>
        <fixed name="robot0:FFT1" limited="true" range="0 3.14" damping="0.1">
            <joint joint="robot0:FFJ1" coef="1" />
            <joint joint="robot0:FFJ0" coef="1" />
        </fixed>
        <fixed name="robot0:MFT0" limited="true" range="0 1.6">
            <joint joint="robot0:MFJ1" coef="1" />
            <joint joint="robot0:MFJ0" coef="-1" />
        </fixed>
        <fixed name="robot0:MFT1" limited="true" range="0 3.14" damping="0.1">
            <joint joint="robot0:MFJ1" coef="1" />
            <joint joint="robot0:MFJ0" coef="1" />
        </fixed>
        <fixed name="robot0:RFT0" limited="true" range="0 1.6">
            <joint joint="robot0:RFJ1" coef="1" />
            <joint joint="robot0:RFJ0" coef="-1" />
        </fixed>
        <fixed name="robot0:RFT1" limited="true" range="0 3.14" damping="0.1">
            <joint joint="robot0:RFJ1" coef="1" />
            <joint joint="robot0:RFJ0" coef="1" />
        </fixed>
        <fixed name="robot0:LFT0" limited="true" range="0 1.6">
            <joint joint="robot0:LFJ1" coef="1" />
            <joint joint="robot0:LFJ0" coef="-1" />
        </fixed>
        <fixed name="robot0:LFT1" limited="true" range="0 3.14" damping="0.1">
            <joint joint="robot0:LFJ1" coef="1" />
            <joint joint="robot0:LFJ0" coef="1" />
        </fixed>
    </tendon>
    <actuator>
        <general name="robot0:A_WRJ1" class="robot0:asset_class" joint="robot0:WRJ1" ctrlrange="-0.47 0.117" forcerange="-0.2 0.2" biastype="affine" gainprm="2 0 0" biasprm="0 -2 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 0.05" forcerange="-2 2" biastype="affine" gainprm="12 0 0" biasprm="0 -12 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="-0.277 0.33" forcerange="-0.1 0.1" biastype="affine" gainprm="0.13 0 0" biasprm="0 -0.13 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 1.454" forcerange="-0.3 0.3" biastype="affine" gainprm="0.4 0 0" biasprm="0 -0.4 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" tendon="robot0:FFT1" ctrlrange="0 3.14" forcerange="-0.3 0.3" biastype="affine" gainprm="0.3 0 0" biasprm="0 -0.3 0" />
        <general name="robot0:A_MFJ3" class="robot0:asset_class" joint="robot0:MFJ3" ctrlrange="-0.293 0.33" forcerange="-0.1 0.1" biastype="affine" gainprm="0.25 0 0" biasprm="0 -0.25 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 1.435" forcerange="-0.3 0.3" biastype="affine" gainprm="11 0 0" biasprm="0 -11 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" tendon="robot0:MFT1" ctrlrange="0 3.14" forcerange="-0.3 0.3" biastype="affine" gainprm="0.3 0 0" biasprm="0 -0.3 0" />
        <general name="robot0:A_RFJ3" class="robot0:asset_class" joint="robot0:RFJ3" ctrlrange="-0.3 0.343" forcerange="-0.05 0.05" biastype="affine" gainprm="1.5 0 0" biasprm="0 -1.5 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 1.51" forcerange="-0.3 0.3" biastype="affine" gainprm="2 0 0" biasprm="0 -2 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" tendon="robot0:RFT1" ctrlrange="0 3.14" forcerange="-0.3 0.3" biastype="affine" gainprm="0.18 0 0" biasprm="0 -0.18 0" />
        <general name="robot0:A_LFJ4" class="robot0:asset_class" joint="robot0:LFJ4" ctrlrange="0.03 0.775" forcerange="-0.2 0.2" biastype="affine" gainprm="4 0 0" biasprm="0 -4 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="-0.332 0.247" forcerange="-0.1 0.1" biastype="affine" gainprm="2 0 0" biasprm="0 -2 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 1.545" forcerange="-0.3 0.3" biastype="affine" gainprm="0.8 0 0" biasprm="0 -0.8 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" tendon="robot0:LFT1" ctrlrange="0 3.14" forcerange="-0.3 0.3" biastype="affine" gainprm="0.4 0 0" biasprm="0 -0.4 0" />
        <general name="robot0:A_THJ4" class="robot0:asset_class" joint="robot0:THJ4" ctrlrange="-1 0.5" forcerange="-0.2 0.2" biastype="affine" gainprm="1.5 0 0" biasprm="0 -1.5 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 1.21" forcerange="-0.15 0.15" biastype="affine" gainprm="1.5 0 0" biasprm="0 -1.5 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="-0.179 0.155" forcerange="-0.15 0.15" biastype="affine" gainprm="0.3 0 0" biasprm="0 -0.3 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="-0.583 0.524" forcerange="-0.18 0.18" biastype="affine" gainprm="2 0 0" biasprm="0 -2 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="-0.2 0.2" biastype="affine" gainprm="2 0 0" biasprm="0 -2 0" user="2026 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
    </actuator>
    <sensor>
        <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>