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| a | b/arm/assets/myoarm_body.xml | ||
|---|---|---|---|
| 1 | <mujocoinclude model="MyoArm_v0.01"> |
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| 2 | <!-- ================================================= |
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| 3 | Copyright 2023 Vikash Kumar, Vittorio Caggiano, |
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| 4 | Model :: Myo Hand (MuJoCoV2.0) |
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| 5 | Author :: Vikash Kumar (vikashplus@gmail.com), Vittorio Caggiano |
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| 6 | source :: https://github.com/vikashplus |
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| 7 | License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. |
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| 8 | ====================================================== --> |
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| 9 | |||
| 10 | <body name="thorax" pos="0 0 0" childclass="arm" euler="1.57 -1.57 0"> |
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| 11 | <inertial diaginertia="0.0764928 0.0573742 0.0471" mass="8.09341" pos="-0.02118 -0.128888 -9.98087e-05" quat="0.988645 -0.00439528 0.000169877 0.150204"/> |
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| 12 | <!-- <geom mesh="ground_geom_1_thorax" name="ground_geom_1" type="mesh"/> --> |
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| 13 | <body euler="-1.57 0 0" pos=".1 -.455 -.02"> |
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| 14 | <geom name="thorax_coll0" type="capsule" class="myoarm_coll" size="0.080 0.077" pos="-.065 0 .070" euler="1.57 0 0"/> |
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| 15 | <geom name="thorax_coll1" type="ellipsoid" class="myoarm_coll" size="0.095 0.140 0.140" pos="-.075 0 .200" euler="1.57 0 0"/> |
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| 16 | <geom name="thorax_coll2" type="capsule" class="myoarm_coll" size="0.110 0.065" pos="-.090 0 .340" euler="1.57 0 0"/> |
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| 17 | <geom name="thorax_coll3" type="capsule" class="myoarm_coll" size="0.075 0.120" pos="-.110 0 .425" euler="1.57 0 0"/> |
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| 18 | </body> |
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| 19 | |||
| 20 | <geom class="wrap" name="Thorax_ellipsoid" pos="-0.0386 -0.1273 0.0709" quat="0.98192 0.00567093 -0.166487 0.0899079" size="0.08"/> |
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| 21 | <geom class="wrap" name="Thorax_ellipsoid_PECM2" pos="-0.0386 -0.1273 0.0709" quat="0.98192 0.00567093 -0.166487 0.0899079" size="0.08" rgba="1 0 0 0"/> |
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| 22 | <geom class="wrap" name="Thorax_ellipsoid_PECM3" pos="-0.0386 -0.1273 0.0709" quat="0.98192 0.00567093 -0.166487 0.0899079" size="0.08" rgba="1 0 0 0"/> |
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| 23 | <site name="PECM2_PECM2-P3" pos="0.03091 -0.03922 0.09705"/> |
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| 24 | <site name="PECM2_PECM2-P4" pos="0.02769 -0.04498 0.02271"/> |
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| 25 | <site name="Thorax_ellipsoid_PECM2_3_sidesite" pos="0.7614 0.6727 0.8709"/> |
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| 26 | <site name="PECM3_PECM3-P3" pos="0.0525 -0.08417 0.08935"/> |
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| 27 | <site name="PECM3_PECM3-P4" pos="0.05724 -0.11654 0.03787"/> |
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| 28 | <site name="Thorax_ellipsoid_PECM3_3_sidesite" pos="0.7614 0.6727 0.8709"/> |
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| 29 | <site name="LAT1_LAT1-P4" pos="-0.11859497376930025 -0.079928388492435526 0.068157061603091193"/> |
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| 30 | <site name="LAT1_LAT1-P5" pos="-0.11828 -0.10118 0.03316"/> |
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| 31 | <site name="LAT1_LAT1-P6" pos="-0.09578 -0.11724 0.00882"/> |
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| 32 | <site name="LAT2_LAT2-P4" pos="-0.12371858734822989 -0.12417032086185528 0.077034033720721373"/> |
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| 33 | <site name="LAT2_LAT2-P5" pos="-0.10992 -0.16908 0.02878"/> |
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| 34 | <site name="LAT2_LAT2-P6" pos="-0.07186 -0.18818 0.00815"/> |
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| 35 | <site name="LAT3_LAT3-P4" pos="-0.1204266823427011 -0.15954523000255943 0.092743411376397689"/> |
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| 36 | <site name="LAT3_LAT3-P5" pos="-0.11157 -0.19387 0.05532"/> |
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| 37 | <site name="LAT3_LAT3-P6" pos="-0.07117 -0.24858 0.00907"/> |
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| 38 | <site class="marker" name="C7_marker" pos="-0.05613 0.05528 -0.00151"/> |
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| 39 | <site name="TMAJ_LAT_PEC_CORBhh_sphere_PECM2_2_sidesite" pos="0.0510248 -0.016092 -0.0573453" rgba="1 0 0 0"/> |
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| 40 | </body> |
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| 41 | |||
| 42 | <body name="clavicle" pos="0.006325 -0.02547 0.00693" childclass="arm" euler="1.57 -1.57 0"> |
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| 43 | <inertial diaginertia="0.001 0.001 0.001" mass="0.156" pos="-0.011096 0.0063723 0.054168" quat="0.906292 0.0334036 0.164622 -0.387838"/> |
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| 44 | <joint axis="0.0153 0.989299 -0.1451" name="sternoclavicular_r2" pos="0 0 0" range="-0.75 -0.0" user="-2.32583e-06"/> |
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| 45 | <joint axis="-0.994473 0 -0.104997" name="sternoclavicular_r3" pos="0 0 0" range="0.0 0.318" user="9.85111e-07"/> |
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| 46 | <geom mesh="clavicle_geom_1_clavicle" name="clavicle_geom_1" type="mesh"/> |
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| 47 | <site name="DELT1_DELT1-P4" pos="-0.014 0.01106 0.08021"/> |
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| 48 | <site name="PECM1_PECM1-P3" pos="0.0264476 0.004005 0.057232"/> |
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| 49 | <site name="PECM1_PECM1-P4" pos="0.00321 -0.00013 0.05113"/> |
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| 50 | <site class="marker" name="R.Clavicle_marker" pos="0.01835 -0.00464 -0.00046"/> |
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| 51 | |||
| 52 | <body name="clavphant" pos="-0.01433 0.02007 0.1355"> |
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| 53 | <inertial diaginertia="1 1 1" mass="0.001" pos="0 0 0"/> |
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| 54 | <joint axis="-0.994473 0 -0.104997" name="unrotscap_r3" pos="0 0 0" range="-0.318 -0.0" user="-9.85111e-07"/> |
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| 55 | <joint axis="0.0153 0.989299 -0.1451" name="unrotscap_r2" pos="0 0 0" range="0.0 0.75" user="2.32583e-06"/> |
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| 56 | <body name="scapula" pos="0 0 0"> |
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| 57 | <inertial diaginertia="0.00199576 0.00103993 0.001" mass="0.70396" pos="-0.054694 -0.035032 -0.043734" quat="0.453021 0.77921 0.0744129 0.426692"/> |
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| 58 | <joint axis="0.157095 0.947269 -0.279291" name="acromioclavicular_r2" pos="0 0 0" range="-0.152 -0.0" user="-4.70933e-07"/> |
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| 59 | <joint axis="-0.754084 0.297594 0.585487" name="acromioclavicular_r3" pos="0 0 0" range="0.0 1.228" user="3.80592e-06"/> |
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| 60 | <joint axis="0.6377 0.1186 0.7611" name="acromioclavicular_r1" pos="0 0 0" range="0.0 0.552" user="1.71073e-06"/> |
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| 61 | <geom mesh="scapula_geom_1_scapula" name="scapula_geom_1" type="mesh"/> |
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| 62 | <geom class="wrap" name="Deltoid2_ellipsoid" pos="-0.0058 -0.0378 0.0096" quat="-0.423842 0.568442 0.433325 -0.556293" size="0.033"/> |
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| 63 | <geom class="wrap" name="Delt3_torus" pos="-0.0973 -0.0428 -0.037" quat="0.916494 0.246518 0.233162 -0.211903" size="0.04"/> |
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| 64 | <geom class="wrap" name="INFSP_torus" pos="-0.0561 -0.0199 -0.0112" quat="0.953924 0.0340622 0.288198 0.0762223" size="0.008"/> |
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| 65 | <geom class="wrap" name="TMIN_ellipsoid" pos="-0.0418 -0.0519 -0.0359" quat="0.407504 -0.492108 -0.706779 -0.3037" size="0.03"/> |
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| 66 | <geom class="wrap" name="TRIlongglen_cylinder" pos="-0.0359 -0.0309 -0.0132" quat="0.351544 0.110456 -0.628265 0.685201" size="0.003 0.015" type="cylinder"/> |
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| 67 | <geom class="wrap" name="Deltoid2_ellipsoid_DELT2" pos="-0.0122268 -0.0345692 0.0127541" quat="-0.423842 0.568442 0.433325 -0.556293" size="0.0297339"/> |
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| 68 | <site name="Deltoid2_sidesite" pos="-0.006523 -0.02881 0.04238"/> |
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| 69 | <site name="Delt3_sidesite" pos="-0.0973 -0.0428 -0.037"/> |
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| 70 | <site name="INFSP_sidesite" pos="-0.0561 -0.0199 -0.0112"/> |
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| 71 | <site name="TMIN_sidesite" pos="-0.0475 -0.03803 -0.008771"/> |
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| 72 | <site name="TRIlongglen_sidesite" pos="-0.03881 -0.02953 -0.01083"/> |
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| 73 | <site name="s_glenohum_s_glenohum-P2" pos="-0.016 -0.023 -0.017"/> |
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| 74 | <site name="m_glenohum_m_glenohum-P2" pos="-0.014 -0.03 -0.019"/> |
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| 75 | <site name="i_glenohum_i_glenohum-P2" pos="-0.02 -0.036 -0.02"/> |
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| 76 | <site name="coracohum_coracohum-P2" pos="-0.006 -0.026 -0.025"/> |
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| 77 | <site name="DELT1_DELT1-P3" pos="0.04347 -0.03202 0.00499"/> |
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| 78 | <site name="DELT2_DELT2-P3" pos="5e-05 0.00294 0.02233"/> |
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| 79 | <site name="DELT2_DELT2-P4" pos="-0.01078 -0.00034 0.0062"/> |
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| 80 | <site name="Deltoid2_ellipsoid_DELT2_2_sidesite" pos="-0.0403233 -0.0328863 0.017157"/> |
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| 81 | <site name="DELT3_DELT3-P1" pos="-0.05573 0.00122 -0.02512"/> |
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| 82 | <site name="DELT3_DELT3-P2" pos="-0.07247 -0.03285 0.01233"/> |
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| 83 | <site name="Delt3_torus_DELT3_1_sidesite" pos="0.3027 0.3572 0.363"/> |
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| 84 | <site name="SUPSP_SUPSP-P2" pos="-0.0071293297535122493 0.0061517049319610526 0.011581990794449191"/> |
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| 85 | <site name="SUPSP_SUPSP-P3" pos="-0.044 -0.01512 -0.05855"/> |
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| 86 | <site name="INFSP_INFSP-P2" pos="-0.0477596 -0.0399154 -0.00963954"/> |
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| 87 | <site name="INFSP_INFSP-P3" pos="-0.07382 -0.05476 -0.04781"/> |
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| 88 | <site name="SUBSC_SUBSC-P2" pos="-0.01831 -0.05223 -0.02457"/> |
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| 89 | <site name="SUBSC_SUBSC-P3" pos="-0.07246 -0.03943 -0.06475"/> |
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| 90 | <site name="TMIN_TMIN-P2" pos="-0.09473 -0.07991 -0.04737"/> |
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| 91 | <site name="TMIN_TMIN-P3" pos="-0.09643 -0.08121 -0.05298"/> |
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| 92 | <site name="TMAJ_TMAJ-P3" pos="-0.09541 -0.109088 -0.0504081"/> |
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| 93 | <site name="TMAJ_TMAJ-P4" pos="-0.106617 -0.11056 -0.0757051"/> |
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| 94 | <site name="LAT1_LAT1-P3" pos="-0.0812616 -0.0723763 -0.0276194"/> |
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| 95 | <site name="LAT2_LAT2-P3" pos="-0.0886248 -0.0793882 -0.0268122"/> |
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| 96 | <site name="LAT3_LAT3-P3" pos="-0.0905824 -0.107059 -0.034711"/> |
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| 97 | <site name="CORB_CORB-P1" pos="0.0125 -0.04127 -0.02652"/> |
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| 98 | <site name="CORB_CORB-P2" pos="0.00483 -0.06958 -0.01563"/> |
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| 99 | <site name="TRIlong_TRIlong-P1" pos="-0.04565 -0.04073 -0.01377"/> |
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| 100 | <site name="BIClong_BIClong-P1" pos="-0.03123 -0.02353 -0.01305"/> |
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| 101 | <site name="BIClong_BIClong-P2" pos="-0.02094 -0.01309 -0.00461"/> |
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| 102 | <site name="BICshort_BICshort-P1" pos="0.01268 -0.03931 -0.02625"/> |
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| 103 | <site name="BICshort_BICshort-P2" pos="0.00093 -0.06704 -0.01593"/> |
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| 104 | <site class="marker" name="R.Shoulder_marker" pos="0.0014 -0.00147 0.01369"/> |
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| 105 | <body name="scapphant" pos="-0.00955 -0.034 0.009"> |
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| 106 | <inertial diaginertia="1 1 1" mass="0.001" pos="0 0 0"/> |
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| 107 | <joint axis="0.6377 0.1186 0.7611" name="unrothum_r1" pos="0 0 0" range="-0.552 -0.0" user="-1.71073e-06"/> |
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| 108 | <joint axis="-0.754084 0.297594 0.585487" name="unrothum_r3" pos="0 0 0" range="-1.228 -0.0" user="-3.80592e-06"/> |
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| 109 | <joint axis="0.157095 0.947269 -0.279291" name="unrothum_r2" pos="0 0 0" range="0.0 0.152" user="4.70933e-07"/> |
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| 110 | <body name="humphant" pos="0 0 0"> |
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| 111 | <inertial diaginertia="1 1 1" mass="0.001" pos="0 0 0"/> |
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| 112 | <joint axis="0.00479995 0.999089 0.0423995" name="elv_angle" pos="0 0 0" range="-1.658 2.269" user="0.251642"/> |
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| 113 | <body name="humphant1" pos="0 0 0"> |
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| 114 | <inertial diaginertia="1 1 1" mass="0.001" pos="0 0 0"/> |
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| 115 | <joint axis="-0.998261 0.00229991 0.0588977" name="shoulder_elv" pos="0 0 0" range="0 3.142" user="9.61084e-06"/> |
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| 116 | <joint axis="0.00479995 0.999089 0.0423995" name="shoulder1_r2" pos="0 0 0" range="-2.242 1.658" user="-0.251642"/> |
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| 117 | <body name="humerus" pos="0 0 0"> |
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| 118 | <inertial diaginertia="0.0128576 0.0121576 0.00239265" mass="1.99757" pos="0.018064 -0.140141 -0.012746" quat="0.407851 0.343714 -0.567755 0.627034"/> |
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| 119 | <joint axis="0.00479995 0.999089 0.0423995" name="shoulder_rot" pos="0 0 0" range="-1.571 2.094" user="0.161391"/> |
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| 120 | <geom mesh="humerus_geom_1_humerus" name="humerus_geom_1" type="mesh"/> |
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| 121 | <geom name="humerus_coll" type="capsule" class="myoarm_coll" size="0.042 0.140" pos="0 -.13 0" euler="1.57 0 0"/> |
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| 122 | |||
| 123 | <geom name="Elbow_PT_ECRL_wrap" type="sphere" size="0.027" pos="-0.005 -0.3 0.005" class="wrap"></geom> |
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| 124 | <geom name="Elbow_PT_FCU_wrap" type="sphere" size="0.015" pos="-0.005 -0.29 -0.033" class="wrap"></geom> |
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| 125 | <site name="Elbow_PT_ECRL_site_ECRL_side" pos="0.03 -0.2872 0.04"/> |
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| 126 | <site name="Elbow_PT_FCU_site_FCU_side" pos="0.03 -0.2872 -0.04"/> |
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| 127 | |||
| 128 | <site name="ECRL-P1" pos="-0.0073 -0.2609 0.0091"/> |
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| 129 | <site name="ECRB-P1" pos="0.0135 -0.2905 0.017"/> |
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| 130 | <site name="ECU-P1" pos="0.0008 -0.2895 0.0188"/> |
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| 131 | <site name="FCR-P1" pos="0.0076 -0.2781 -0.037"/> |
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| 132 | <site name="FCU-P1" pos="0.0022 -0.2774 -0.0388"/> |
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| 133 | <site name="PL-P1" pos="0.0046 -0.2752 -0.0386"/> |
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| 134 | <site name="PT-P1" pos="0.0036 -0.2759 -0.0365"/> |
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| 135 | <site name="FDS5-P1" pos="0.0042 -0.276 -0.0386"/> |
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| 136 | <site name="FDS4-P1" pos="0.0048 -0.2788 -0.0373"/> |
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| 137 | <site name="EDC5-P1" pos="-0.0004 -0.2883 0.0187"/> |
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| 138 | <site name="EDC4-P1" pos="-0.0016 -0.2894 0.0178"/> |
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| 139 | <site name="EDC3-P1" pos="0.0005 -0.2898 0.0195"/> |
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| 140 | <site name="EDC2-P1" pos="0.0006 -0.289 0.0187"/> |
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| 141 | <site name="EDM-P1" pos="0.0009 -0.2892 0.0185"/> |
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| 142 | |||
| 143 | <geom class="wrap" name="DELT1hh_ellipsoid" pos="-0.0139 -0.0127 -0.0262" quat="0.83666 0.160028 0.454758 0.259973" size="0.03"/> |
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| 144 | <geom class="wrap" name="delt2hum_cylinder" pos="0.0017 -0.0958 0.0011" quat="0.713926 0.699514 -0.0280022 0.014313" size="0.0109 0.12" type="cylinder"/> |
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| 145 | <geom class="wrap" name="delt3hum_ellipsoid" pos="0.0019 -0.0592 0.0011" quat="0.156827 0.126209 0.749421 -0.630749" size="0.01"/> |
||
| 146 | <geom class="wrap" name="SUPSP_ellipsoid" pos="0.0002 0.0077 0.0043" quat="0.793859 0.0125049 0.0149602 -0.607789" size="0.02"/> |
||
| 147 | <geom class="wrap" name="INFSP_and_TMIN_hum_head_ellipsoid" pos="-0.0003 0.0026 0.0038" quat="0.989183 -0.142571 -0.00937337 -0.0332047" size="0.02" rgba="1 0 0 0"/> |
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| 148 | <geom class="wrap" name="infsp_new_cylinder" pos="-0.0019 -0.019 0.0022" quat="0.634204 0.685268 0.103666 -0.342703" size="0.0235 0.0575" type="cylinder" rgba="1 0 0 0"/> |
||
| 149 | <geom class="wrap" name="SUBSCAP_ellipsoid" pos="-0.0025 0.0007 -0.0045" quat="0.881836 -0.408886 0.210176 0.104899" size="0.017"/> |
||
| 150 | <geom class="wrap" name="LIGhh_s_ellipsoid" pos="-0.001 0.003 0.003" quat="0.923956 -0.382499 0 0" size="0.02"/> |
||
| 151 | <geom class="wrap" name="LIGhh_mi_ellipsoid" pos="-0.001 0.004 0.001" quat="0.923956 -0.382499 0 0" size="0.019"/> |
||
| 152 | <geom class="wrap" name="TMINhum_cylinder" pos="0.003 -0.0255 0.0013" quat="-0.0348606 -0.0161876 -0.671884 0.739658" size="0.022 0.0565" type="cylinder" rgba="1 0 0 0"/> |
||
| 153 | <geom class="wrap" name="TMAJ_LAThum_cylinder" pos="0.0007 -0.0443 -0.0055" quat="0.560987 0.513042 -0.468432 0.45017" size="0.007 0.02" type="cylinder" rgba="1 0 0 0"/> |
||
| 154 | <geom class="wrap" name="PEC12hum_cylinder" pos="0.002 -0.0508 -0.0017" quat="0.623759 0.640765 0.289032 -0.341767" size="0.009 0.035" type="cylinder" rgba="1 0 0 0"/> |
||
| 155 | <geom class="wrap" name="PEC23hh_sphere" pos="-0.0086 0.0021 -0.0004" size="0.02" rgba="1 0 0 0"/> |
||
| 156 | <geom class="wrap" name="PEC1hh_ellipsoid" pos="-0.0037 0.0005 -0.0025" quat="0.916754 -0.32328 -0.0902682 0.216573" size="0.02"/> |
||
| 157 | <geom class="wrap" name="PEC3hum_cylinder" pos="0.0009 -0.0551 -0.0004" quat="0.495166 0.406012 -0.520135 0.565176" size="0.008 0.05" type="cylinder" rgba="1 0 0 0"/> |
||
| 158 | <geom class="wrap" name="LAT_TMAJhh_cylinder" pos="-0.0224 0.0102 0.0094" quat="0.931143 -0.140037 -0.0596766 -0.331362" size="0.007 0.0225" type="cylinder" rgba="1 0 0 0"/> |
||
| 159 | <geom class="wrap" name="LAT_TMAJ2hh_sphere" pos="-0.0016 0.0092 0.0052" quat="0.988522 -0.0615953 0.137948 0.0010005" size="0.03" rgba="1 0 0 0"/> |
||
| 160 | <geom class="wrap" name="Elbow_BIC_BRD_ellipsoid" pos="0.0019 -0.289 -0.014" quat="0.995526 -0.0630434 0.0695304 0.0108779" size="0.015"/> |
||
| 161 | <geom class="wrap" name="TRIlonghh_ellipsoid" pos="-0.0078 -0.0041 -0.0014" quat="0.414166 0.226558 -0.879857 -0.0546691" size="0.02"/> |
||
| 162 | <geom class="wrap" name="TRI_cylinder" pos="0.0028 -0.2919 -0.0119" quat="0.994531 -0.0700249 0.0022946 0.0774514" size="0.016 0.05" type="cylinder" rgba="1 0 0 0"/> |
||
| 163 | <geom class="wrap" name="ANC_ellipsoid" pos="0.0134 -0.2861 -0.0008" quat="0.86157 -0.0459397 -0.0868616 0.498038" size="0.02"/> |
||
| 164 | <geom class="wrap" name="BIClong_ellipsoid" pos="0.0033 0.005 0.0003" quat="0.227685 -0.774064 0.117793 0.578886" size="0.02"/> |
||
| 165 | <geom class="wrap" name="TMAJ_LAT_PEC_CORBhh_sphere" pos="0.0007 0 0.006" size="0.03" rgba="1 0 0 0"/> |
||
| 166 | <geom class="wrap" name="DELT_TMAJ_LAT_PEC_CORBhh_sphere" pos="0.0007 0 0.006" size="0.03"/> |
||
| 167 | <geom class="wrap" name="CORBhum_cylinder" pos="0.0027 -0.1202 -0.0059" quat="0.642357 -0.637406 0.335002 0.262422" size="0.008 0.05" type="cylinder" rgba="1 0 0 0"/> |
||
| 168 | <geom class="wrap" name="Elbow_PT_ECRL_ellipsoid" pos="0.003 -0.2872 -0.0069" quat="0.947273 -0.0932693 -0.0283097 0.305242" size="0.018"/> |
||
| 169 | <geom class="wrap" name="LIGhh_s_ellipsoid_s_glenohum" pos="-0.001 0.003 0.003" quat="0.923956 -0.382499 0 0" size="0.02"/> |
||
| 170 | <geom class="wrap" name="LIGhh_mi_ellipsoid_m_glenohum" pos="-0.001 0.004 0.001" quat="0.923956 -0.382499 0 0" size="0.019"/> |
||
| 171 | <geom class="wrap" name="LIGhh_mi_ellipsoid_i_glenohum" pos="-0.001 0.004 0.001" quat="0.923956 -0.382499 0 0" size="0.019"/> |
||
| 172 | <geom class="wrap" name="LIGhh_s_ellipsoid_coracohum" pos="-0.001 0.003 0.003" quat="0.923956 -0.382499 0 0" size="0.02"/> |
||
| 173 | <geom class="wrap" name="DELT1hh_ellipsoid_DELT1" pos="-0.0109974 -0.0095035 -0.0270664" quat="0.83666 0.160028 0.454758 0.259973" size="0.029726" rgba="1 0 0 0"/> |
||
| 174 | <geom class="wrap" name="delt3hum_ellipsoid_DELT3" pos="0.0044 -0.0617 0.00343794" quat="0.156827 0.126209 0.749421 -0.630749" size="0.0125"/> |
||
| 175 | <geom class="wrap" name="SUPSP_ellipsoid_SUPSP" pos="0.00110546 0.00820496 0.00197985" quat="0.793859 0.0125049 0.0149602 -0.607789" size="0.0202151"/> |
||
| 176 | <geom class="wrap" name="SUBSCAP_ellipsoid_SUBSC" pos="-0.0026089 -0.00113613 -0.00633073" quat="0.881836 -0.408886 0.210176 0.104899" size="0.0171729"/> |
||
| 177 | <geom class="wrap" name="INFSP_and_TMIN_hum_head_ellipsoid_TMIN" pos="-0.000927281 -0.000469167 0.00327226" quat="0.989183 -0.142571 -0.00937337 -0.0332047" size="0.025" rgba="1 0 0 0"/> |
||
| 178 | <geom class="wrap" name="PEC1hh_ellipsoid_PECM1" pos="0.0013 -0.0038025 -0.00451178" quat="0.916754 -0.32328 -0.0902682 0.216573" size="0.0221545"/> |
||
| 179 | <geom class="wrap" name="TRIlonghh_ellipsoid_TRIlong" pos="-0.00 -0.00 -0.00" quat="0.414166 0.226558 -0.879857 -0.0546691" size="0.02"/> |
||
| 180 | <geom class="wrap" name="ANC_ellipsoid_ANC" pos="0.0121714 -0.288051 -0.00144365" quat="0.86157 -0.0459397 -0.0868616 0.498038" size="0.0180029"/> |
||
| 181 | <geom class="wrap" name="Elbow_BIC_BRD_ellipsoid_BIClong" pos="0.00296577 -0.290569 -0.0121662" quat="0.995526 -0.0630434 0.0695304 0.0108779" size="0.0150371"/> |
||
| 182 | <geom class="wrap" name="BIClong_ellipsoid_BIClong" pos="0.0033 0.005 0.0003" quat="0.227685 -0.774064 0.117793 0.578886" size="0.02"/> |
||
| 183 | <geom class="wrap" name="Elbow_BIC_BRD_ellipsoid_BICshort" pos="0.00286868 -0.290754 -0.0140545" quat="0.995526 -0.0630434 0.0695304 0.0108779" size="0.0162859"/> |
||
| 184 | |||
| 185 | <geom class="wrap" name="ElbowBICBRD_ellipsoid_wrap" pos="0.0019 -0.289 -0.014" quat="0.995524 -0.0630586 0.0695464 0.0108747" size="0.015 0.1" type="cylinder"/> |
||
| 186 | |||
| 187 | <site name="DELT1hh_sidesite" pos="0.01226 -0.01367 -0.009599"/> |
||
| 188 | <site name="delt3hum_sidesite" pos="-0.008209 -0.05929 -0.003236"/> |
||
| 189 | <site name="infsp_new_sidesite" pos="-0.02012 0.02083 0.01693" rgba="1 0 0 0"/> |
||
| 190 | <site name="TMINhum_sidesite" pos="-0.01993 -0.02619 -0.0003194"/> |
||
| 191 | <site name="TMAJ_LAThum_sidesite" pos="-0.0005448 -0.04449 -0.0134"/> |
||
| 192 | <site name="PEC12hum_sidesite" pos="0.007993 -0.05136 -0.009686"/> |
||
| 193 | <site name="PEC1hh_sidesite" pos="0.002716 -0.01113 -0.01877"/> |
||
| 194 | <site name="PEC3hum_sidesite" pos="0.002519 -0.05634 -0.009166"/> |
||
| 195 | <site name="LAT_TMAJhh_sidesite" pos="-0.02747 0.004271 0.01117"/> |
||
| 196 | <site name="Elbow_BIC_BRD_sidesite" pos="0.01774 -0.2888 -0.01624"/> |
||
| 197 | <site name="TRIlonghh_sidesite" pos="-0.02362 -0.006026 -0.01507"/> |
||
| 198 | <site name="ANC_sidesite" pos="0.00314 -0.3043 -0.002981"/> |
||
| 199 | <site name="BIClong_sidesite" pos="0.01267 0.02324 0.004834"/> |
||
| 200 | <site name="CORBhum_sidesite" pos="0.00844 -0.121 -0.01278"/> |
||
| 201 | <site name="Elbow_PT_ECRL_sidesite" pos="0.01843 -0.2761 -0.006962"/> |
||
| 202 | <site name="s_glenohum_s_glenohum-P1" pos="0.018 0.011 -0.009"/> |
||
| 203 | <site name="LIGhh_s_ellipsoid_s_glenohum_1_sidesite" pos="0.00985 0.011 -0.01467"/> |
||
| 204 | <site name="m_glenohum_m_glenohum-P1" pos="0.016 0.003 -0.012"/> |
||
| 205 | <site name="LIGhh_mi_ellipsoid_m_glenohum_1_sidesite" pos="0.01146 0.003222 -0.01556"/> |
||
| 206 | <site name="i_glenohum_i_glenohum-P1" pos="0.009 -0.003 -0.018"/> |
||
| 207 | <site name="LIGhh_mi_ellipsoid_i_glenohum_1_sidesite" pos="0.009 -0.003 -0.018"/> |
||
| 208 | <site name="coracohum_coracohum-P1" pos="0.02 0.011 -0.003"/> |
||
| 209 | <site name="LIGhh_s_ellipsoid_coracohum_1_sidesite" pos="0.01817 0.01067 -0.006444"/> |
||
| 210 | <site name="DELT1_DELT1-P1" pos="0.00896 -0.11883 0.00585"/> |
||
| 211 | <site name="DELT1_DELT1-P2" pos="0.01623 -0.1033 -0.00412"/> |
||
| 212 | <site name="DELT1hh_ellipsoid_DELT1_2_sidesite" pos="0.000809535 -0.0383736 -0.00627703"/> |
||
| 213 | <site name="DELT2_DELT2-P1" pos="0.00461 -0.13611 0.0056"/> |
||
| 214 | <site name="DELT2_DELT2-P2" pos="0.00623159 -0.0641952 -0.0301843"/> |
||
| 215 | <site name="delt2hum_cylinder_DELT2_1_sidesite" pos="0.1107 0.0132 0.1101"/> |
||
| 216 | <site name="DELT3_DELT3-P3" pos="0.00206 -0.07602 0.01045"/> |
||
| 217 | <site name="delt3hum_ellipsoid_DELT3_2_sidesite" pos="0.0108133 -0.0711671 0.00262982"/> |
||
| 218 | <site name="SUPSP_SUPSP-P1" pos="0.00256 0.01063 0.02593"/> |
||
| 219 | <site name="SUPSP_ellipsoid_SUPSP_1_sidesite" pos="0.00229806 0.00847163 0.0284548"/> |
||
| 220 | <site name="INFSP_INFSP-P1" pos="-0.00887 0.00484 0.02448"/> |
||
| 221 | <site name="infsp_new_cylinder_INFSP_1_sidesite" pos="-0.0432342 -0.0560158 0.0141316" />- |
||
| 222 | <site name="SUBSC_SUBSC-P1" pos="0.01403 0.0084 -0.01331"/> |
||
| 223 | <site name="SUBSCAP_ellipsoid_SUBSC_1_sidesite" pos="0.0144482 0.0109872 -0.0101213"/> |
||
| 224 | <site name="TMIN_TMIN-P1" pos="-0.00127 -0.01259 0.022"/> |
||
| 225 | <site name="INFSP_and_TMIN_hum_head_ellipsoid_TMIN_1_sidesite" pos="-0.00813624 -0.010913 0.1" rgba="1 0 0 0"/> |
||
| 226 | <site name="TMAJ_TMAJ-P1" pos="0.00998 -0.05419 -0.00568"/> |
||
| 227 | <site name="TMAJ_TMAJ-P2" pos="-0.00625597 -0.049991 -0.0159345"/> |
||
| 228 | <site name="LAT_TMAJ2hh_sphere_TMAJ_2_sidesite" pos="-0.0129153 -0.0208485 -0.0110803"/> |
||
| 229 | <site name="TMAJ_LAThum_cylinder_TMAJ_1_sidesite" pos="0.0707 0.0257 0.0645"/> |
||
| 230 | <site name="PECM1_PECM1-P1" pos="0.01169 -0.04191 0.0078"/> |
||
| 231 | <site name="PECM1_PECM1-P2" pos="0.0210522 -0.01996 0.00793506"/> |
||
| 232 | <site name="PEC1hh_ellipsoid_PECM1_2_sidesite" pos="0.00259407 -0.0252892 -0.00394296" rgba="1 0 0 0"/> |
||
| 233 | <site name="PECM2_PECM2-P1" pos="0.01274 -0.04289 0.00785"/> |
||
| 234 | <site name="PECM2_PECM2-P2" pos="0.0205641 -0.0398321 0.000623549"/><!-- |
||
| 235 | <site name="TMAJ_LAT_PEC_CORBhh_sphere_PECM2_2_sidesite" pos="0.0510248 -0.016092 -0.0573453" rgba="1 0 0 5"/>--> |
||
| 236 | <site name="PEC12hum_cylinder_PECM2_1_sidesite" pos="0.092 0.0392 0.0883" rgba="1 0 0 0"/> |
||
| 237 | <site name="PECM3_PECM3-P1" pos="0.01269 -0.04375 0.0075"/> |
||
| 238 | <site name="PECM3_PECM3-P2" pos="0.0159398 -0.0451044 -0.0042896"/> |
||
| 239 | <site name="PEC23hh_sphere_PECM3_2_sidesite" pos="0.0033563 -0.0186528 0.00113941" rgba="1 0 0 0"/> |
||
| 240 | <site name="LAT1_LAT1-P1" pos="0.0105 -0.03415 -0.00653"/> |
||
| 241 | <site name="LAT1_LAT1-P2" pos="-0.00550867 -0.0262692 -0.0129871"/> |
||
| 242 | <site name="LAT_TMAJ2hh_sphere_LAT1_2_sidesite" pos="-0.01849985 -0.0389514 -0.024259" /> |
||
| 243 | <site name="TMAJ_LAThum_cylinder_LAT1_1_sidesite" pos="-0.0107 -0.0257 0.0645" /> |
||
| 244 | <site name="LAT2_LAT2-P1" pos="0.00968 -0.04071 -0.00611"/> |
||
| 245 | <site name="LAT2_LAT2-P2" pos="-0.00769792 -0.0421159 -0.0156065"/> |
||
| 246 | <site name="LAT_TMAJ2hh_sphere_LAT2_2_sidesite" pos="-0.0157083 -0.017011 -0.0250469" rgba="1 0 0 0"/> |
||
| 247 | <site name="TMAJ_LAThum_cylinder_LAT2_1_sidesite" pos="0.0707 0.0257 0.0645"/> |
||
| 248 | <site name="LAT3_LAT3-P1" pos="0.01208 -0.03922 -0.00416"/> |
||
| 249 | <site name="LAT3_LAT3-P2" pos="-0.0116777 -0.0435673 -0.0143472"/> |
||
| 250 | <site name="LAT_TMAJ2hh_sphere_LAT3_2_sidesite" pos="-0.014069 -0.0219399 -0.00787017"/> |
||
| 251 | <site name="TMAJ_LAThum_cylinder_LAT3_1_sidesite" pos="0.0707 0.0257 0.0645"/> |
||
| 252 | <site name="CORB_CORB-P3" pos="0.00743 -0.15048 -0.00782"/> |
||
| 253 | <site name="CORBhum_cylinder_CORB_2_sidesite" pos="-0.00868897 -0.144208 -0.00172395"/> |
||
| 254 | <site name="TMAJ_LAT_PEC_CORBhh_sphere_CORB_1_sidesite" pos="0.001864 -0.01985 -0.03068" rgba="1 0 0 0"/> |
||
| 255 | <site name="TRIlong_TRIlong-P2" pos="-0.02714 -0.11441 -0.00664"/> |
||
| 256 | <site name="TRIlong_TRIlong-P3" pos="-0.03184 -0.22637 -0.01217"/> |
||
| 257 | <site name="TRIlong_TRIlong-P4" pos="-0.01743 -0.26757 -0.01208"/> |
||
| 258 | <site name="TRI_cylinder_TRIlong_4_sidesite" pos="-0.0156503 -0.293711 0.0175748" /> |
||
| 259 | <site name="TRIlonghh_ellipsoid_TRIlong_1_sidesite" pos="-0.0361 -0.00673 0.02277" /> |
||
| 260 | <site name="TRIlong_TRIlong-P1b" pos="-0.0365 -0.0044 -0.0213" /> |
||
| 261 | <site name="TRIlat_TRIlat-P1" pos="-0.00599 -0.12646 0.00428"/> |
||
| 262 | <site name="TRIlat_TRIlat-P2" pos="-0.02344 -0.14528 0.00928"/> |
||
| 263 | <site name="TRIlat_TRIlat-P3" pos="-0.03184 -0.22637 -0.01217"/> |
||
| 264 | <site name="TRIlat_TRIlat-P4" pos="-0.01743 -0.26757 -0.01208"/> |
||
| 265 | <site name="TRI_cylinder_TRIlat_4_sidesite" pos="-0.0166674 -0.285448 0.0308421"/> |
||
| 266 | <site name="TRImed_TRImed-P1" pos="-0.00838 -0.13695 -0.00906"/> |
||
| 267 | <site name="TRImed_TRImed-P2" pos="-0.02601 -0.15139 -0.0108"/> |
||
| 268 | <site name="TRImed_TRImed-P3" pos="-0.03184 -0.22637 -0.01217"/> |
||
| 269 | <site name="TRImed_TRImed-P4" pos="-0.01743 -0.26757 -0.01208"/> |
||
| 270 | <site name="TRI_cylinder_TRImed_4_sidesite" pos="-0.00964741 -0.30644 -0.0103312"/> |
||
| 271 | <site name="ANC_ANC-P1" pos="-0.00744 -0.28359 0.00979"/> |
||
| 272 | <site name="ANC_ellipsoid_ANC_1_sidesite" pos="0.00142561 -0.280967 0.0164332"/> |
||
| 273 | <site name="BIClong_BIClong-P3" pos="0.01921 0.02083 0.00828"/> |
||
| 274 | <site name="BIClong_BIClong-P4" pos="0.02378 -0.00511 0.01201"/> |
||
| 275 | <site name="BIClong_BIClong-P5" pos="0.01345 -0.02827 0.00136"/> |
||
| 276 | <site name="BIClong_BIClong-P6" pos="0.01068 -0.07736 -0.00165"/> |
||
| 277 | <site name="BIClong_BIClong-P7" pos="0.01703 -0.12125 0.00024"/> |
||
| 278 | <site name="BIClong_BIClong-P8" pos="0.0228 -0.1754 -0.0063"/> |
||
| 279 | <site name="Elbow_BIC_BRD_ellipsoid_BIClong_7_sidesite" pos="0.00972896 -0.273869 -0.0199478"/> |
||
| 280 | <site name="BIClong_ellipsoid_BIClong_2_sidesite" pos="0.02337 0.01102 0.001639"/> |
||
| 281 | <site name="BICshort_BICshort-P3" pos="0.01117 -0.07576 -0.01101"/> |
||
| 282 | <site name="BICshort_BICshort-P4" pos="0.01703 -0.12125 -0.01079"/> |
||
| 283 | <site name="BICshort_BICshort-P5" pos="0.0228 -0.1754 -0.0063"/> |
||
| 284 | <site name="Elbow_BIC_BRD_ellipsoid_BICshort_5_sidesite" pos="0.0158403 -0.275971 -0.0182235"/> |
||
| 285 | <site name="BRA_BRA-P1" pos="0.0068 -0.1739 -0.0036"/> |
||
| 286 | <site name="BRD_BRD-P1" pos="-0.0098 -0.19963 0.00223"/> |
||
| 287 | |||
| 288 | <site name="TRI_site_BRA_side" pos="0.0188814 -0.25991 0.0179386"></site> |
||
| 289 | |||
| 290 | <site class="marker" name="R.Bicep_marker" pos="0.01591 -0.181 -0.00553"/> |
||
| 291 | <site class="marker" name="R.Elbow.Lateral_marker" pos="0.00509 -0.2806 0.02884"/> |
||
| 292 | <site class="marker" name="R.Elbow.Medial_marker" pos="-0.00407 -0.2844 -0.05408"/> |
||
| 293 | <body name="ulna" pos="0.0061 -0.2904 -0.0123" childclass="elbow"> |
||
| 294 | <inertial diaginertia="0.00543663 0.00523521 0.001" mass="1.1053" pos="0.00971783 -0.0959509 0.024286" quat="0.792048 0.609078 0.0156735 0.0379256"/> |
||
| 295 | <joint axis="0.0494004 0.0366003 0.998108" name="elbow_flexion" pos="0 0 0" range="0 2.269" user="1.05676"/> |
||
| 296 | <geom mesh="ulna_geom_1_ulna" name="ulna_geom_1" type="mesh"/> |
||
| 297 | <geom class="wrap" name="PQ2_cylinder" pos="-0.0012 -0.2092 0.0428" quat="0.540392 0.481982 -0.422482 0.545141" size="0.007 0.05" type="cylinder"/> |
||
| 298 | |||
| 299 | <geom name="PQ2_wrap" pos="-0.0012 -0.2092 0.0428" quat="0.540178 0.481989 -0.422693 0.545183" class="wrap" size="0.007 0.005" type="cylinder"/> |
||
| 300 | <site name="ECU-P2" pos="-0.0139 -0.032 0.0295"/> |
||
| 301 | <site name="ECU-P3" pos="-0.017 -0.0543 0.0287"/> |
||
| 302 | <site name="ECU-P4" pos="-0.0179 -0.0957 0.0328"/> |
||
| 303 | <site name="PT-P2" pos="0.0085 -0.0337 -0.0143"/> |
||
| 304 | <site name="PT-P3" pos="0.0122 -0.0652 -0.0022"/> |
||
| 305 | <site name="PQ-P2" pos="0.0019 -0.2097 0.0363"/> |
||
| 306 | <site name="FDS3-P1" pos="-0.0067 -0.0271 -0.0019"/> |
||
| 307 | <site name="FDS2-P1" pos="-0.0068 -0.0282 -0.0014"/> |
||
| 308 | <site name="FDP5-P1" pos="-0.0063 -0.0321 0.0025"/> |
||
| 309 | <site name="FDP4-P1" pos="-0.005 -0.0337 0.0027"/> |
||
| 310 | <site name="FDP3-P1" pos="-0.0052 -0.0333 0.0021"/> |
||
| 311 | <site name="FDP2-P1" pos="-0.0065 -0.0318 0.0028"/> |
||
| 312 | <site name="EDM-P2" pos="-0.0098 -0.0391 0.0308"/> |
||
| 313 | <site name="EDM-P3" pos="-0.0076 -0.0827 0.0365"/> |
||
| 314 | <site name="EIP-P1" pos="-0.0039 -0.1665 0.0368"/> |
||
| 315 | <site name="EIP-P2" pos="0.0017 -0.1747 0.0405"/> |
||
| 316 | <site name="EPL-P1" pos="-0.0141 -0.0971 0.0295"/> |
||
| 317 | <site name="PQ2_site_PQ_side" pos="-0.0012 -0.2092 0.0428"/> |
||
| 318 | <site name="TRIlong_TRIlong-P5" pos="-0.0219 0.01046 -0.00078"/> |
||
| 319 | <site name="TRIlat_TRIlat-P5" pos="-0.0219 0.01046 -0.00078"/> |
||
| 320 | <site name="TRImed_TRImed-P5" pos="-0.0219 0.01046 -0.00078"/> |
||
| 321 | <site name="ANC_ANC-P2" pos="-0.02532 -0.00124 0.006"/> |
||
| 322 | <site name="SUP_SUP-P3" pos="-0.0136 -0.03384 0.02013"/> |
||
| 323 | <site name="BRA_BRA-P4" pos="-0.0032 -0.0239 0.0009"/> |
||
| 324 | <site class="marker" name="R.Ulna_marker" pos="-0.01672 -0.2416 0.04782"/> |
||
| 325 | <body name="radius" pos="0.0004 -0.0115 0.02"> |
||
| 326 | <inertial diaginertia="0.001 0.001 0.001" mass="0.23359" pos="0.0336341 -0.181559 0.0156" quat="0.770264 0.63559 0.0119833 0.0507376"/> |
||
| 327 | |||
| 328 | <!-- <geom mesh="radius_geom_1_radius" name="radius_geom_1" type="mesh"/> --> |
||
| 329 | <geom name="radius_coll" type="capsule" class="myoarm_coll" size="0.030" fromto="0 0 0 0.015 -0.235841 0.028" euler="1.4 0.1 0.12"/> |
||
| 330 | <camera name="hand_top" pos="0.02 -0.2 0.55" euler="0 0 0"/> |
||
| 331 | <camera name="hand_bottom" pos="0.02 -0.2 -0.55" euler="0 3.14 0"/> |
||
| 332 | <camera name="hand_side_inter" pos="0.5 -0.3 0" euler="1.57 1.57 0"/> |
||
| 333 | <camera name="hand_side_exter" pos="-0.5 -0.3 0" euler="1.57 -1.57 0"/> |
||
| 334 | |||
| 335 | <joint axis="-0.017161 0.992666 -0.119668" name="pro_sup" pos="0 0 0" range="-1.5708 1.5708" damping="0.5"/> |
||
| 336 | <geom class="myohand_coll" size="0.02" fromto="0.015 0 -.005 0.025 -0.24 0.025"/> |
||
| 337 | <geom class="myohand_coll" size="0.02" fromto="-.01 0 -.010 0.015 -0.24 0.025"/> |
||
| 338 | <geom mesh="radius" name="radius" type="mesh"/> |
||
| 339 | |||
| 340 | <geom name="SUP_wrap" pos="0.0045 -0.0437 0.0059" quat="0.348354 0.118086 0.653837 -0.661213" class="wrap" size="0.008 0.02" type="cylinder"/> |
||
| 341 | <geom name="PQ1_wrap" pos="0.0281 -0.1986 0.0288" quat="0.15975 -0.156797 -0.702725 -0.675331" class="wrap" size="0.01 0.005" type="cylinder"/> |
||
| 342 | <geom name="ECU_torus_wrap" pos="-0.0163 -0.2417 0.0349" quat="0.868975 -0.476593 -0.0126204 0.132601" class="wrap" size="0.003"/> |
||
| 343 | <site name="ECRL-P2" pos="0.032 -0.1346 0.0278"/> |
||
| 344 | <site name="ECRL-P3" pos="0.0424 -0.2368 0.0362"/> |
||
| 345 | <site name="ECRB-P2" pos="0.029 -0.1309 0.0238"/> |
||
| 346 | <site name="ECRB-P3" pos="0.0355 -0.228 0.0394"/> |
||
| 347 | <site name="ECU-P5" pos="-0.0142 -0.227 0.0348"/> |
||
| 348 | <site name="FCR-P2" pos="0.0211 -0.2194 0.0013"/> |
||
| 349 | <site name="FCU-P3" pos="0.0108 -0.2233 0.0097"/> |
||
| 350 | <!-- <site name="FCU-P2" pos="0.0101 -0.1835 0.002"/> --> |
||
| 351 | <site name="FCU-P2" pos="0.0095 -0.1841 0.0005"></site> |
||
| 352 | <site name="PL-P2" pos="0.0253 -0.2392 -0.0028"/> |
||
| 353 | <site name="PT-P5" pos="0.0254 -0.1088 0.0198"/> |
||
| 354 | <site name="PT-P4" pos="0.0236 -0.0934 0.0094"/> |
||
| 355 | <site name="PQ-P1" pos="0.0324 -0.2 0.0196"/> |
||
| 356 | <site name="FDS5-P2" pos="0.0138 -0.1872 0.002"/> |
||
| 357 | <site name="FDS4-P2" pos="0.0157 -0.1867 0.0027"/> |
||
| 358 | <site name="FDS3-P2" pos="0.019 -0.1871 0.0042"/> |
||
| 359 | <site name="FDS2-P2" pos="0.0214 -0.1862 0.0055"/> |
||
| 360 | <site name="FDP5-P2" pos="0.0141 -0.1852 0.0086"/> |
||
| 361 | <site name="FDP4-P2" pos="0.0158 -0.1863 0.008"/> |
||
| 362 | <site name="FDP3-P2" pos="0.0191 -0.1864 0.0078"/> |
||
| 363 | <site name="FDP2-P2" pos="0.0208 -0.1856 0.0092"/> |
||
| 364 | <site name="EDC5-P3" pos="0.0099 -0.223 0.0362"/> |
||
| 365 | <site name="EDC5-P2" pos="0.0013 -0.0383 0.013"/> |
||
| 366 | <site name="EDC4-P3" pos="0.0088 -0.2237 0.0428"/> |
||
| 367 | <site name="EDC4-P2" pos="0.0026 -0.0393 0.0144"/> |
||
| 368 | <site name="EDC3-P3" pos="0.0144 -0.2232 0.0422"/> |
||
| 369 | <site name="EDC3-P2" pos="0.0032 -0.0389 0.0142"/> |
||
| 370 | <site name="EDC2-P3" pos="0.0153 -0.2231 0.042"/> |
||
| 371 | <site name="EDC2-P2" pos="0.0023 -0.0386 0.0137"/> |
||
| 372 | <site name="EDM-P4" pos="0.0045 -0.2264 0.0368"/> |
||
| 373 | <site name="EIP-P3" pos="0.0108 -0.2278 0.0366"/> |
||
| 374 | <site name="EPL-P2" pos="0.0012 -0.1367 0.0227"/> |
||
| 375 | <site name="EPL-P3" pos="0.027 -0.2187 0.0383"/> |
||
| 376 | <site name="EPL-P4" pos="0.0338 -0.2275 0.0461"/> |
||
| 377 | <site name="EPL-P5" pos="0.0423 -0.2377 0.0417"/> |
||
| 378 | <site name="EPB-P1" pos="0.0192 -0.147 0.0211"/> |
||
| 379 | <site name="EPB-P2" pos="0.0228 -0.1586 0.0266"/> |
||
| 380 | <site name="EPB-P3" pos="0.0383 -0.1972 0.0383"/> |
||
| 381 | <site name="EPB-P4" pos="0.0524 -0.2361 0.027"/> |
||
| 382 | <site name="FPL-P1" pos="0.0097 -0.0946 0.0177"/> |
||
| 383 | <site name="FPL-P2" pos="0.0166 -0.1352 0.0192"/> |
||
| 384 | <site name="FPL-P3" pos="0.0187 -0.1793 0.0199"/> |
||
| 385 | <site name="FPL-P4" pos="0.038 -0.2317 0.0158"/> |
||
| 386 | <site name="APL-P1" pos="0.0115 -0.0948 0.0168"/> |
||
| 387 | <site name="APL-P2" pos="0.0303 -0.1397 0.0351"/> |
||
| 388 | <site name="APL-P3" pos="0.0399 -0.1607 0.034"/> |
||
| 389 | <site name="APL-P4" pos="0.044 -0.1784 0.0313"/> |
||
| 390 | <site name="APL-P5" pos="0.055 -0.2308 0.0237"/> |
||
| 391 | <site name="ECU_torus_site_ECU_side" pos="-0.0163 -0.2417 0.0349"/> |
||
| 392 | |||
| 393 | <geom class="wrap" name="SUP_cylinder" pos="0.0045 -0.0437 0.0059" quat="0.348335 0.118148 0.653915 -0.661134" size="0.008 0.02" type="cylinder"/> |
||
| 394 | <geom class="wrap" name="ECU_torus" pos="-0.0163 -0.2417 0.0349" quat="0.868982 -0.476579 -0.0126339 0.132605" size="0.006"/> |
||
| 395 | <geom class="wrap" name="PQ1_cylinder" pos="0.0281 -0.1986 0.0288" quat="0.159804 -0.156915 -0.702833 -0.675179" size="0.01 0.05" type="cylinder"/> |
||
| 396 | <site name="SUP_sidesite" pos="0.01106 -0.04094 0.01141"/> |
||
| 397 | <site name="ECU_sidesite" pos="-0.0163 -0.2417 0.0349"/> |
||
| 398 | <site name="SUP_SUP-P1" pos="0.00996 -0.06096 0.00075"/> |
||
| 399 | <site name="SUP_SUP-P2" pos="0.01201 -0.0517 -0.00107"/> |
||
| 400 | <site name="SUP_cylinder_SUP_2_sidesite" pos="0.00511946 -0.043905 0.0155965"/> |
||
| 401 | <site name="BIClong_BIClong-P10" pos="-0.00670279 -0.0291637 -0.0127257"/> |
||
| 402 | <site name="BIClong_BIClong-P11" pos="-0.002 -0.0375 -0.002"/> |
||
| 403 | <site name="BICshort_BICshort-P6" pos="-0.00774281 -0.0255585 -0.0131094"/> |
||
| 404 | <site name="BICshort_BICshort-P7" pos="-0.002 -0.0375 -0.002"/> |
||
| 405 | <site name="BRD_BRD-P2" pos="0.03577 -0.12742 0.02315"/> |
||
| 406 | <site name="BRD_BRD-P3" pos="0.0419 -0.221 0.0224"/> |
||
| 407 | <site class="marker" name="R.Forearm_marker" pos="0.03828 -0.1133 0.0174"/> |
||
| 408 | <site class="marker" name="R.Radius_marker" pos="0.05749 -0.2272 0.02738"/> |
||
| 409 | |||
| 410 | <body name="lunate" pos="0.018 -0.242 0.025" childclass="wrist"> |
||
| 411 | <joint axis="0 0 1" name="deviation" pos="0 0 0" range="-0.174533 0.436332" damping="0.25"/> |
||
| 412 | <joint axis="1 0 0" name="flexion" pos="0 0 0" range="-0.785398 0.785398" damping="0.25"/> |
||
| 413 | <geom mesh="lunate" name="lunate" type="mesh"/> |
||
| 414 | <geom name="WristExtensor_wrap" pos="0.0007 0 0.003" quat="0.807649 -0.0333177 0.588355 0.0207694" class="wrap" size="0.008 0.02" type="cylinder"/> |
||
| 415 | <geom name="WristFlexor_wrap" pos="0 -0.01 -0.004" quat="0.807649 -0.0333177 0.588355 0.0207694" class="wrap" size="0.007 0.02" type="cylinder"/> |
||
| 416 | <geom name="ExtensorEllipse_ellipsoid_wrap" pos="-0.00145969 -0.0120017 -0.00892632" quat="0.977473 -0.106567 0.15459 0.0963907" class="wrap" size="0.0237409"/> |
||
| 417 | <!-- <geom name="PL_ellipsoid_wrap" pos="0.0170362 -0.0128706 0.0101738" quat="0.998158 -0.0141897 0.050277 0.0308429" class="wrap" size="0.0272385"/> --> |
||
| 418 | <geom name="FDS_ellipsoid_wrap" type="cylinder" size="0.013 0.025" pos="0.0012 -0.0057 -0.0003" euler="0.00837758 1.48 -0.0171042" class="wrap"/> |
||
| 419 | <geom name="FDP_ellipsoid_wrap" type="cylinder" size="0.013 0.025" pos="-0.0022 -0.0069 0.0032" euler="-1.46747 1.37 0.121824" class="wrap"/> |
||
| 420 | <geom name="EDM_ellipsoid_wrap" type="cylinder" size="0.014 0.018" pos="-0.0167 -0.0022 0.0048" euler="2.9627 1.73 0.117984" class="wrap"/> |
||
| 421 | <geom name="FPL_ellipsoid_wrap" type="sphere" size="0.015" pos="0.02 -0.025 -0.0033" class="wrap"/> |
||
| 422 | <geom name="ECRL_torus_wrap" pos="0.0222 -0.0096 0.0208" quat="0.637339 0.675155 -0.168467 0.331034" class="wrap" size="0.008"/> |
||
| 423 | <geom name="ECRB_torus_wrap" pos="0.0126 -0.0095 0.0186" quat="0.78744 0.610837 -0.011177 -0.0818018" class="wrap" size="0.002"/> |
||
| 424 | <geom name="FCR_torus_wrap" pos="0.0032 -0.0045 -0.019" quat="0.71204 -0.696183 -0.0894345 0.0181554" class="wrap" size="0.0015"/> |
||
| 425 | |||
| 426 | <geom name="EDCL_torus_wrap" pos="-0.0128 -0.0133 0.0148" quat="0.386237 0.907673 0.159784 0.037683" class="wrap" size="0.004"/> |
||
| 427 | <geom name="EDCR_torus_wrap" pos="-0.0098 -0.0137 0.0166" quat="0.516906 0.814718 -0.18962 0.1819" class="wrap" size="0.003"/> |
||
| 428 | <geom name="EDCM_torus_wrap" pos="-0.0007 -0.0117 0.0191" quat="0.516192 0.831214 -0.100219 0.180516" class="wrap" size="0.0035"/> |
||
| 429 | <geom name="EDCI_torus_wrap" pos="0.009 -0.0149 0.0211" quat="0.660055 0.749868 0.0267535 0.0361877" class="wrap" size="0.0035"/> |
||
| 430 | <site name="ExtensorEllipse_ellipsoid_site_EIP_side" pos="-0.0195105 -0.00430577 0.0636576"/> |
||
| 431 | <site name="PL_ellipsoid_site_PL_side" pos="-0.0286005 -0.023546 -0.0168168"/> |
||
| 432 | |||
| 433 | <site name="FDS_ellipsoid_site_FDS5_side" pos="-0.00481002 -0.034454 -0.0213554"/> |
||
| 434 | <site name="FDS_ellipsoid_site_FDS4_side" pos="-0.00481002 -0.034454 -0.0213554" /> |
||
| 435 | <site name="FDS_ellipsoid_site_FDS3_side" pos="-0.00481002 -0.034454 -0.0213554" /> |
||
| 436 | <site name="FDS_ellipsoid_site_FDS2_side" pos="-0.00481002 -0.034454 -0.0213554" /> |
||
| 437 | |||
| 438 | <site name="FDP_ellipsoid_site_FDP5_side" pos="-0.00481002 -0.034454 -0.0213554"/> |
||
| 439 | <site name="FDP_ellipsoid_site_FDP4_side" pos="-0.00481002 -0.034454 -0.0213554"/> |
||
| 440 | <site name="FDP_ellipsoid_site_FDP3_side" pos="-0.00481002 -0.034454 -0.0213554"/> |
||
| 441 | <site name="FDP_ellipsoid_site_FDP2_side" pos="-0.00481002 -0.034454 -0.0213554"/> |
||
| 442 | <site name="EDM_ellipsoid_site_EDM_side" pos="-0.0167 0.0022 0.015"/> |
||
| 443 | <site name="FPL_ellipsoid_site_FPL_side" pos="0.017 -0.025 -0.0033"/> |
||
| 444 | <site name="ECRL_torus_site_ECRL_side" pos="0.0222 -0.0096 0.0208"/> |
||
| 445 | <site name="ECRB_torus_site_ECRB_side" pos="0.0126 -0.0095 0.0186"/> |
||
| 446 | <site name="FCR_torus_site_FCR_side" pos="0.0032 -0.0045 -0.019"/> |
||
| 447 | |||
| 448 | <site name="EDCL_torus_site_EDC5_side" pos="-0.0128 -0.0133 0.0148"/> |
||
| 449 | <site name="EDCR_torus_site_EDC4_side" pos="-0.0098 -0.0137 0.0166"/> |
||
| 450 | <site name="EDCM_torus_site_EDC3_side" pos="-0.0007 -0.0117 0.0191"/> |
||
| 451 | <site name="EDCI_torus_site_EDC2_side" pos="0.009 -0.0149 0.0211"/> |
||
| 452 | <body name="scaphoid" pos="0.012345 -0.004464 -0.001254"> |
||
| 453 | <geom mesh="scaphoid" name="scaphoid" type="mesh"/> |
||
| 454 | <inertial pos="0 0 0" mass="0.02" fullinertia="0.0001 0.0001 0.0001 0 0 0"/> |
||
| 455 | </body> |
||
| 456 | <body name="pisiform" pos="-0.013388 -0.009886 -0.010593"> |
||
| 457 | <geom mesh="pisiform" name="pisiform" type="mesh"/> |
||
| 458 | <geom name="FCU_wrap" pos="0 0 0.006" quat="0.600794 -0.4144 0.573042 -0.372748" class="wrap" size="0.005 0.01" type="cylinder"/> |
||
| 459 | <inertial pos="0 0 0" mass="0.02" fullinertia="0.0001 0.0001 0.0001 0 0 0"/> |
||
| 460 | <site name="FCU-P4" pos="0.001 0.003 -0.01"/> |
||
| 461 | </body> |
||
| 462 | <body name="triquetrum" pos="-0.010784 -0.007499 -0.001289"> |
||
| 463 | <geom mesh="triquetrum" name="triquetrum" type="mesh"/> |
||
| 464 | <inertial pos="0 0 0" mass="0.02" fullinertia="0.0001 0.0001 0.0001 0 0 0"/> |
||
| 465 | </body> |
||
| 466 | <body name="capitate" pos="0.003992 -0.015054 0.002327" childclass="fingers"> |
||
| 467 | <geom mesh="capitate" name="capitate" type="mesh"/> |
||
| 468 | <site name="PL-P3" pos="0.0092 -0.019 -0.0175"/> |
||
| 469 | <site name="FDS5-P3" pos="-0.0024 -0.0139 -0.0138"/> |
||
| 470 | <site name="FDS4-P3" pos="-0.0008 -0.0134 -0.0136"/> |
||
| 471 | <site name="FDS3-P3" pos="0.0068 -0.0138 -0.014"/> |
||
| 472 | <site name="FDS2-P3" pos="0.0089 -0.0137 -0.0139"/> |
||
| 473 | <site name="FDP5-P3" pos="-0.0009 -0.0103 -0.0119"/> |
||
| 474 | <site name="FDP4-P3" pos="0.0011 -0.0118 -0.0118"/> |
||
| 475 | <site name="FDP3-P3" pos="0.0034 -0.0128 -0.0114"/> |
||
| 476 | <site name="FDP2-P3" pos="0.009 -0.0117 -0.0121"/> |
||
| 477 | <site name="EPL-P6" pos="0.0243 0.0001 0.0061"/> |
||
| 478 | <site name="EPB-P5" pos="0.0312 0.0026 -0.0033"/> |
||
| 479 | <!-- <site name="FPL-P5" pos="0.0179 0.0064 -0.0168"/> --> |
||
| 480 | <site name="FPL-P5" pos="0.0187 0.0088 -0.0155"></site> |
||
| 481 | <body name="trapezium" pos="0.015293 -0.004569 -0.010308"> |
||
| 482 | <geom mesh="trapezium" name="trapezium" type="mesh"/> |
||
| 483 | <inertial pos="0 0 0" mass="0.02" fullinertia="0.0001 0.0001 0.0001 0 0 0"/> |
||
| 484 | <geom name="Trpzm_wrap" pos="0.002 -0.003 0" quat="0.708942 0.660448 0.181023 0.16864" class="wrap" size="0.011"/> |
||
| 485 | <site name="EPL-P7" pos="0.0081 -0.0046 0.0099"/> |
||
| 486 | <site name="OP-P1" pos="-0.011 -0.005 -0.004"/> |
||
| 487 | <site name="Trpzm_site_FPL_side" pos="0.0125474 -0.0222585 0.00136571"/> |
||
| 488 | <site name="Trpzm_site_OP_side" pos="0.0125474 -0.0222585 0.00136571"/> |
||
| 489 | <site name="S_grasp" pos="-0.011 -0.06 -0.03" size=".01" group="3"/> |
||
| 490 | <camera name="plam_lookat" pos="-0.011 -0.06 -0.5" euler="0 3.14 0"/> |
||
| 491 | |||
| 492 | <!-- THUMB FINGER --> |
||
| 493 | <body name="firstmc" pos="0.0072 -0.0054 -0.0025"> |
||
| 494 | <joint axis="-0.042399 -0.665286 0.745384" name="cmc_abduction" pos="0 0 0" range="-0.5 0.78"/> |
||
| 495 | <joint axis="0.495557 0.731736 0.467959" name="cmc_flexion" pos="0 0 0" range="-0.78 0.7"/> |
||
| 496 | <geom name="1mcskin" class="myohand_coll" size="0.0095" fromto="-.002 0.004 0.003 0.0165 -0.0292 -0.0127"/> |
||
| 497 | <geom mesh="1mc" name="1mc" type="mesh"/> |
||
| 498 | <geom name="MPthumb_wrap" type="cylinder" size="0.0085 0.01" pos="0.0177 -0.0305 -0.0143" euler="0.32131512 0.11013028 -0.83479098" class="wrap"/> |
||
| 499 | <inertial pos="0.0078 -0.0147 -0.006" mass="0.016" fullinertia="1.2e-06 7.1e-07 1.3e-06 4.7e-07 2.5e-07 -4.1e-07"/> |
||
| 500 | <site name="EPL-P8" pos="0.0066 -0.0043 0.0079"/> |
||
| 501 | <site name="EPL-P9" pos="0.0216 -0.0242 -0.0053"/> |
||
| 502 | <site name="EPB-P6" pos="0.0144 -0.0034 -0.004"/> |
||
| 503 | <site name="EPB-P7" pos="0.0217 -0.023 -0.0114"/> |
||
| 504 | <!-- <site name="FPL-P7" pos="0.001 -0.013 -0.011"/> |
||
| 505 | <site name="FPL-P8" pos="0.008 -0.025 -0.012"/> |
||
| 506 | <site name="APL-P6" pos="0 0.006 -0.01"/> |
||
| 507 | <site name="APL-P7" pos="0.0063 0.0032 -0.0059"/> |
||
| 508 | <site name="APL-P8" pos="0.014 -0.019 -0.014"/> --> |
||
| 509 | <site name="FPL-P7" pos="-0.0061 -0.0162 -0.0094"></site> |
||
| 510 | <site name="FPL-P8" pos="0.0021 -0.023 -0.0096"></site> |
||
| 511 | <site name="APL-P6" pos="0 0.006 -0.01"></site> |
||
| 512 | <site name="APL-P7" pos="0.0063 0.0032 -0.0059"></site> |
||
| 513 | <site name="APL-P8" pos="0.0083 -0.0059 -0.006"></site> |
||
| 514 | <site name="OP-P2" pos="0.011 -0.03 -0.016"/> |
||
| 515 | <!-- <site name="MPthumb_site_EPL_side" pos="0.0233473 -0.0173314 -0.02" /> --> |
||
| 516 | <site name="MPthumb_site_EPB_side" pos="0.0252901 -0.0179637 -0.00935966" /> |
||
| 517 | <site name="MPthumb_site_FPL_side" pos="0.0177 -0.0305 -0.0143"/> |
||
| 518 | <body name="proximal_thumb" pos="0.0165 -0.0292 -0.0127"> |
||
| 519 | <joint axis="-0.084295 -0.203488 0.975442" name="mp_flexion" pos="0 0 0" range="-0.785398 0.698132"/> |
||
| 520 | <geom class="myohand_coll" size="0.0085" fromto="0 0 0 0.014 -0.0259 -0.0101"/> |
||
| 521 | <geom mesh="thumbprox" name="thumbprox" type="mesh"/> |
||
| 522 | <geom name="IPthumb_wrap" type="cylinder" size="0.00450000 0.005" pos="0.0121 -0.0302 -0.0096" euler="0.30473449 0.01291544 0.08796459" class="wrap"/> |
||
| 523 | <inertial pos="0.0096 -0.0163 -0.0063" mass="0.0079" fullinertia="2.6e-07 7.1e-07 2.9e-07 1e-07 4e-08 -6e-08"/> |
||
| 524 | <site name="EPL-P10" pos="0.0115 -0.0036 0.0016"/> |
||
| 525 | <site name="EPL-P11" pos="0.0192 -0.0265 -0.0104"/> |
||
| 526 | <site name="EPB-P8" pos="0.0093 -0.0062 -0.0056"/> |
||
| 527 | <!-- <site name="FPL-P9" pos="-0.005 -0.006 -0.002"/> --> |
||
| 528 | <site name="FPL-P9" pos="-0.0045 -0.0184 -0.0051"></site> |
||
| 529 | <site name="FPL-P10" pos="0.0059 -0.026 -0.0111"/> |
||
| 530 | <site name="IPthumb_site_EPL_side" pos="0.0167862 -0.030399 -0.0079041"/> |
||
| 531 | <site name="IPthumb_site_FPL_side" pos="0.00820158 -0.028993 -0.00586527"/> |
||
| 532 | <body name="distal_thumb" pos="0.014 -0.0259 -0.0101"> |
||
| 533 | <geom class="myohand_coll" size="0.0065" fromto="0 0 0 0.010 -0.018 -0.007"/> |
||
| 534 | <joint axis="-0.050102 -0.479623 0.876043" name="ip_flexion" pos="0 0 0" range="-1.309 0.436332"/> |
||
| 535 | <geom mesh="thumbdist" name="thumbdist" type="mesh"/> |
||
| 536 | <inertial pos="0.0056 -0.0104 -0.0044" mass="0.003" fullinertia="5e-08 3e-08 5e-08 1e-08 1e-08 -1e-08"/> |
||
| 537 | <site name="EPL-P12" pos="0.0054 -0.0071 -0.0046"/> |
||
| 538 | <site name="FPL-P11" pos="0.0024 -0.0113 -0.0041"/> |
||
| 539 | <geom class="myohand_coll" type="ellipsoid" size=".007 .0055 .002" pos=".015 -.018 -.007" euler="0.2 1.57 1.5" rgba="1 1 1 .8"/> |
||
| 540 | <site name="THtip" size="0.005" pos=".010 -.020 -.008" rgba=".8 0 0 1"/> |
||
| 541 | </body> |
||
| 542 | </body> |
||
| 543 | </body> |
||
| 544 | </body> |
||
| 545 | <body name="trapezoid" pos="0.009143 -0.004062 -0.002464"> |
||
| 546 | <geom mesh="trapezoid" name="trapezoid" type="mesh"/> |
||
| 547 | <inertial pos="0 0 0" mass="0.02" fullinertia="0.0001 0.0001 0.0001 0 0 0"/> |
||
| 548 | </body> |
||
| 549 | <body name="hamate" pos="-0.010969 -0.002495 -0.00075"> |
||
| 550 | <geom mesh="hamate" name="hamate" type="mesh"/> |
||
| 551 | <geom name="APL_torus_wrap" pos="0.0082 0.0023 -0.0101" quat="0.686412 -0.716478 0.0748666 -0.0994649" class="wrap" size="0.004"/> |
||
| 552 | <site name="APL_torus_site_APL_side" pos="0.0082 0.0023 -0.0101"/> |
||
| 553 | <inertial pos="0 0 0" mass="0.02" fullinertia="0.0001 0.0001 0.0001 0 0 0"/> |
||
| 554 | </body> |
||
| 555 | <body name="secondmc" pos="0.014685 -0.03762 0.005032"> |
||
| 556 | <geom name="2mcskin" class="myohand_coll" size="0.010 0.028" euler="1.42 0.15 -.1"/> |
||
| 557 | <geom mesh="2mc" name="2mc" type="mesh"/> |
||
| 558 | <geom name="2ndmcp_ellipsoid_wrap" type="cylinder" size="0.0065 0.005" pos="0.0058 -0.0294 0.0007" euler="0.84927721 -1.33552594 1.33814394" class="wrap"/> |
||
| 559 | <inertial pos="0 0 0" mass="0.02" fullinertia="0.0001 0.0001 0.0001 0 0 0"/> |
||
| 560 | <!-- <site name="ECRL-P4" pos="0.0025 0.0164 0.0008"/> |
||
| 561 | <site name="FCR-P3" pos="-0.0034 0.0192 -0.0092"/> |
||
| 562 | <site name="FDS2-P4" pos="-0.003 0.001 -0.008"/> |
||
| 563 | <site name="FDS2-P5" pos="0.001 -0.023 -0.004"/> |
||
| 564 | <site name="FDP2-P4" pos="-0.004 0.007 -0.002"/> |
||
| 565 | <site name="FDP2-P5" pos="0.0028 -0.0215 -0.004"/> |
||
| 566 | <site name="EDC2-P4" pos="0.003 -0.0282 0.015"/> |
||
| 567 | <site name="EIP-P4" pos="-0.0108 0.0153 0.0068"/> |
||
| 568 | <site name="EIP-P5" pos="0.0044 -0.026 0.0128"/> |
||
| 569 | <site name="RI2-P1" pos="-0.0041 -0.0002 -0.0048"/> |
||
| 570 | <site name="RI2-P2" pos="0.0091 -0.02 -0.0049"/> |
||
| 571 | <site name="LU_RB2-P1" pos="-0.0041 -0.0002 -0.0048"/> |
||
| 572 | <site name="LU_RB2-P2" pos="0.0102 -0.0265 0"/> |
||
| 573 | <site name="UI_UB2-P1" pos="-0.0041 -0.0002 -0.0048"/> |
||
| 574 | <site name="UI_UB2-P2" pos="-0.0033 -0.0294 -0.0001"/> --> |
||
| 575 | <site name="ECRL-P4" pos="0.0025 0.0164 0.0008"></site> |
||
| 576 | <site name="FCR-P3" pos="-0.0034 0.0192 -0.0092"></site> |
||
| 577 | <site name="FDS2-P4" pos="-0.0041 -0.0002 -0.0048"></site> |
||
| 578 | <site name="FDS2-P5" pos="0.0049 -0.0138 -0.0007"></site> |
||
| 579 | <site name="FDP2-P4" pos="-0.0043 0.0066 -0.0025"></site> |
||
| 580 | <site name="FDP2-P5" pos="0.0041 -0.016 -0.0042"></site> |
||
| 581 | <site name="EDC2-P4" pos="0.0031 -0.0295 0.0124"></site> |
||
| 582 | <site name="EIP-P4" pos="-0.0108 0.0153 0.0068"></site> |
||
| 583 | <site name="EIP-P5" pos="0.0044 -0.026 0.0128"></site> |
||
| 584 | <site name="RI2-P1" pos="-0.0041 -0.0002 -0.0048"></site> |
||
| 585 | <site name="RI2-P2" pos="0.0091 -0.02 -0.0049"></site> |
||
| 586 | <site name="LU_RB2-P1" pos="-0.0041 -0.0002 -0.0048"></site> |
||
| 587 | <site name="LU_RB2-P2" pos="0.0102 -0.0265 -0"></site> |
||
| 588 | <site name="UI_UB2-P1" pos="-0.0041 -0.0002 -0.0048"></site> |
||
| 589 | <site name="UI_UB2-P2" pos="-0.0033 -0.0294 -0.0001"></site> |
||
| 590 | <site name="2ndmcp_ellipsoid_site_FDS2_side" pos="0 0 0"/> |
||
| 591 | <site name="2ndmcp_ellipsoid_site_FDP2_side" pos="0.0058 -0.0294 -0.0087"/> |
||
| 592 | <site name="2ndmcp_ellipsoid_site_EDC2_side" pos="0.0058 -0.0294 0.0087"/> |
||
| 593 | <site name="2ndmcp_ellipsoid_site_EIP_side" pos="0.0058 -0.0294 0.0087"/> |
||
| 594 | <site name="2ndmcp_ellipsoid_site_RI2_side" pos="-0.0107522 -0.0332733 0.00473501"/> |
||
| 595 | <body name="proxph2" pos="0.003501 -0.028243 0.00362"> |
||
| 596 | <joint axis="0.995013 0.09975 0" name="mcp2_flexion" pos="0 0 0" range="0 1.5708"/> |
||
| 597 | <joint axis="-0.054999 0.085899 0.994785" name="mcp2_abduction" pos="0 0 0" range="-0.261799 0.261799"/> |
||
| 598 | <geom class="myohand_coll" size="0.009 0.020" pos="0.004 -0.0210 0.00362" euler="1.45 0.15 -.35"/> |
||
| 599 | <geom mesh="2proxph" name="2proxph" type="mesh"/> |
||
| 600 | <geom name="Secondpm_wrap" type="cylinder" size="0.0042 0.005" pos="0.0075 -0.0407 0.0061" euler="0.74193947 -1.47393055 0.70965087" class="wrap"/> |
||
| 601 | <inertial pos="0 0 0" mass="0.01" fullinertia="0.0001 0.0001 0.0001 0 0 0"/> |
||
| 602 | <!-- <site name="FDS2-P6" pos="0.001 -0.001 -0.009"/> |
||
| 603 | <site name="FDS2-P7" pos="0.0064 -0.0368 0.0023"/> |
||
| 604 | <site name="FDP2-P6" pos="0.001 -0.0134 -0.0095"/> |
||
| 605 | <site name="FDP2-P7" pos="0.008 -0.0363 0.0026"/> |
||
| 606 | <site name="EDC2-P5" pos="-0.0003 -0.0108 0.0116"/> |
||
| 607 | <site name="EDC2-P6" pos="0.006 -0.041 0.013"/> |
||
| 608 | <site name="EIP-P6" pos="0.0017 -0.0103 0.0095"/> |
||
| 609 | <site name="EIP-P7" pos="0.0071 -0.0413 0.0141"/> |
||
| 610 | <site name="RI2-P3" pos="0.007 -0.0067 -0.0001"/> |
||
| 611 | <site name="LU_RB2-P3" pos="0.0084 -0.0083 0"/> |
||
| 612 | <site name="LU_RB2-P4" pos="0.013 -0.042 0.007"/> |
||
| 613 | <site name="UI_UB2-P3" pos="-0.005 -0.013 0.004"/> |
||
| 614 | <site name="UI_UB2-P4" pos="0.002 -0.045 0.011"/> --> |
||
| 615 | <site name="FDS2-P6" pos="0.0013 -0.0084 -0.012"></site> |
||
| 616 | <site name="FDS2-P7" pos="0.0064 -0.0368 0.0023"></site> |
||
| 617 | <site name="FDP2-P6" pos="0.0033 -0.0202 -0.005"></site> |
||
| 618 | <site name="FDP2-P7" pos="0.0063 -0.0343 -0.0006"></site> |
||
| 619 | <site name="EDC2-P5" pos="0.002 -0.01 0.007"></site> |
||
| 620 | <site name="EDC2-P6" pos="0.007 -0.038 0.012"></site> |
||
| 621 | <site name="EIP-P6" pos="0.0017 -0.0103 0.0095"></site> |
||
| 622 | <site name="EIP-P7" pos="0.0071 -0.0413 0.0141"></site> |
||
| 623 | <site name="RI2-P3" pos="0.007 -0.0067 -0.0001"></site> |
||
| 624 | <site name="LU_RB2-P3" pos="0.0084 -0.0083 -0"></site> |
||
| 625 | <site name="LU_RB2-P4" pos="0.0113 -0.0339 0.0094"></site> |
||
| 626 | <site name="UI_UB2-P3" pos="-0.0043 -0.0159 0.0024"></site> |
||
| 627 | <site name="UI_UB2-P4" pos="0.001 -0.0394 0.0111"></site> |
||
| 628 | <site name="Secondpm_site_EDC2_side" pos="0.0075 -0.0407 0.0121"/> |
||
| 629 | <site name="Secondpm_site_EIP_side" pos="0.00869283 -0.0401863 0.0131834"/> |
||
| 630 | <site name="Secondpm_site_LU_RB2_side" pos="0.075 -0.0507 0.01"/> |
||
| 631 | <site name="Secondpm_site_UI_UB2_side" pos="0.0147187 -0.0418367 0.0110691"/> |
||
| 632 | <body name="midph2" pos="0.00751 -0.041273 0.007326"> |
||
| 633 | <geom class="myohand_coll" size="0.008 0.012" pos="0.0013 -0.012 0.00" euler="1.5 0.14 -.35"/> |
||
| 634 | <joint axis="0.97517 0.0998334 -0.197677" name="pm2_flexion" pos="0 0 0" range="0 1.5708"/> |
||
| 635 | <geom mesh="2midph" name="2midph" type="mesh"/> |
||
| 636 | <geom name="Secondmd_wrap" pos="0.0036 -0.0243 0.0003" quat="0.749819 -0.0209733 -0.656264 0.0815428" class="wrap" size="0.003 0.005" type="cylinder"/> |
||
| 637 | <inertial pos="0 0 0" mass="0.003" fullinertia="0.0001 0.0001 0.0001 0 0 0"/> |
||
| 638 | <!-- <site name="FDS2-P8" pos="0.0013 -0.019 -0.0034"/> |
||
| 639 | <site name="FDP2-P8" pos="0.0007 -0.0089 -0.0077"/> |
||
| 640 | <site name="FDP2-P9" pos="0.001 -0.017 -0.005"/> |
||
| 641 | <site name="EDC2-P7" pos="-0.0009 -0.0046 0.0074"/> |
||
| 642 | <site name="EDC2-P8" pos="0.003 -0.0249 0.0048"/>--> |
||
| 643 | <site name="EIP-P8" pos="0.0012 -0.009 0.006"/> |
||
| 644 | <site name="EIP-P9" pos="0.004 -0.026 0.004"/> |
||
| 645 | <!-- <site name="LU_RB2-P5" pos="0.006 -0.008 0.001"/> |
||
| 646 | <site name="LU_RB2-P6" pos="0.006 -0.021 0.002"/> |
||
| 647 | <site name="UI_UB2-P5" pos="-0.003 -0.01 0.004"/> |
||
| 648 | <site name="UI_UB2-P6" pos="0.001 -0.023 0.003"/> --> |
||
| 649 | <site name="FDS2-P8" pos="-0.0002 -0.0088 -0.0041"></site> |
||
| 650 | <site name="FDP2-P8" pos="0.0006 -0.0088 -0.0058"></site> |
||
| 651 | <site name="FDP2-P9" pos="0.0043 -0.0196 -0.0035"></site> |
||
| 652 | <!-- <site name="EDC2-P7" pos="0.001 -0.009 0.0035"></site> |
||
| 653 | <site name="EDC2-P8" pos="0.003 -0.025 0.0035"></site> --> |
||
| 654 | <site name="EDC2-P7" pos="-0.0009 -0.0046 0.0074"/> |
||
| 655 | <site name="EDC2-P8" pos="0.003 -0.0249 0.0048"/> |
||
| 656 | <site name="LU_RB2-P5" pos="0.006 -0.008 0.001"></site> |
||
| 657 | <site name="LU_RB2-P6" pos="0.006 -0.021 0.002"></site> |
||
| 658 | <site name="UI_UB2-P5" pos="-0.0041 -0.0066 0.0038"></site> |
||
| 659 | <site name="UI_UB2-P6" pos="0.001 -0.023 0.003"></site> |
||
| 660 | <site name="Secondmd_site_EDC2_side" pos="0.00435202 -0.0234011 0.00618443"/> |
||
| 661 | <site name="Secondmd_site_EIP_side" pos="0.00435202 -0.0234011 0.00618443"/> |
||
| 662 | <body name="distph2" pos="0.003333 -0.024888 0.00122"> |
||
| 663 | <joint axis="0.995004 0.0998334 0" name="md2_flexion" pos="0 0 0" range="0 1.5708"/> |
||
| 664 | <geom class="myohand_coll" size="0.007 0.008" pos="0.001 -0.008 0.00" euler="1.5 0.14 -.35"/> |
||
| 665 | <geom mesh="2distph" name="2distph" type="mesh"/> |
||
| 666 | <inertial pos="0 0 0" mass="0.002" fullinertia="0.0001 0.0001 0.0001 0 0 0"/> |
||
| 667 | <site name="FDP2-P10" pos="0.0007 -0.0056 -0.004"/> |
||
| 668 | <site name="EDC2-P9" pos="0 -0.0056 0.0034"/> |
||
| 669 | <site name="EIP-P10" pos="0.001 -0.004 0.003"/> |
||
| 670 | <site name="EIP-P11" pos="0.0026 -0.0123 0.0027"/> |
||
| 671 | <geom class="myohand_coll" type="ellipsoid" size=".005 .008 .002" pos=".003 -.018 0.0055" euler="0.2 0.1 0.15" rgba="1 1 1 .8"/> |
||
| 672 | <site name="IFtip" size="0.005" pos=".002 -.018 -.00" rgba="0 0.8 0 1"/> |
||
| 673 | </body> |
||
| 674 | </body> |
||
| 675 | </body> |
||
| 676 | </body> |
||
| 677 | <!-- MIDDLE FINGER --> |
||
| 678 | <body name="thirdmc" pos="0.000477 -0.039239 0.007377"> |
||
| 679 | <geom name="3mcskin" class="myohand_coll" size="0.010 0.028" euler="1.42 0.01 0" pos="0 0 0"/> |
||
| 680 | <inertial pos="0 0 0" mass="0.02" fullinertia="0.0001 0.0001 0.0001 0 0 0"/> |
||
| 681 | <geom mesh="3mc" name="3mc" type="mesh"/> |
||
| 682 | <geom name="3rdmcp_ellipsoid_wrap" type="cylinder" size="0.0065 0.005" pos="0.0016 -0.0271 0.0001" euler="2.5794221 -1.44967048 2.90614774" class="wrap"/> |
||
| 683 | <site name="ECRB-P4" pos="0.0045 0.0279 0.0011"/> |
||
| 684 | <site name="PL-P4" pos="0.0018 0.0083 -0.0024"/> |
||
| 685 | <site name="FDS4-P4" pos="-0.0091 0.0054 -0.0108"/> |
||
| 686 | <site name="FDS3-P4" pos="0.0013 0.0064 -0.0095"/> |
||
| 687 | <site name="FDS3-P5" pos="0.0024 -0.0244 -0.0104"/> |
||
| 688 | <site name="FDP4-P4" pos="-0.0104 0.0047 -0.008"/> |
||
| 689 | <site name="FDP3-P4" pos="-0.0013 0.0061 -0.0084"/> |
||
| 690 | <!-- <site name="FDP3-P5" pos="0.0005 -0.019 -0.0031"/> --> |
||
| 691 | <site name="FDP3-P5" pos="0.0019 -0.0151 -0.0068"></site> |
||
| 692 | <site name="EDC3-P4" pos="-0.0007 -0.0263 0.0112"/> |
||
| 693 | <site name="RI3-P1" pos="0.0013 0.0064 -0.0095"/> |
||
| 694 | <site name="RI3-P2" pos="0.0096 -0.0027 -0.0048"/> |
||
| 695 | <site name="LU_RB3-P1" pos="0.0013 0.0064 -0.0095"/> |
||
| 696 | <!-- <site name="LU_RB3-P2" pos="0.009 -0.019 -0.005"/> --> |
||
| 697 | <site name="LU_RB3-P2" pos="0.0102 -0.0232 -0.0008"></site> |
||
| 698 | <site name="UI_UB3-P1" pos="0.0013 0.0064 -0.0095"/> |
||
| 699 | <!-- <site name="UI_UB3-P2" pos="-0.0077 -0.0271 -0.004"/> --> |
||
| 700 | <site name="UI_UB3-P2" pos="-0.0031 -0.0248 -0.0034"></site> |
||
| 701 | <site name="RI4-P1" pos="-0.0091 0.0054 -0.0108"/> |
||
| 702 | <site name="LU_RB4-P1" pos="-0.0091 0.0054 -0.0108"/> |
||
| 703 | <site name="UI_UB4-P1" pos="-0.0091 0.0054 -0.0108"/> |
||
| 704 | <site name="RI5-P1" pos="-0.0091 0.0054 -0.0108"/> |
||
| 705 | <site name="LU_RB5-P1" pos="-0.0091 0.0254 -0.0108"/> |
||
| 706 | <site name="UI_UB5-P1" pos="-0.0201 0.0254 -0.0158"/> |
||
| 707 | <site name="3rdmcp_ellipsoid_site_FDS3_side" pos="0.0015 -0.025 0.002"/> |
||
| 708 | <site name="3rdmcp_ellipsoid_site_FDP3_side" pos="0.0015 -0.025 0.002"/> |
||
| 709 | <site name="3rdmcp_ellipsoid_site_EDC3_side" pos="0.0016 -0.0291 0.0081"/> |
||
| 710 | <site name="3rdmcp_ellipsoid_site_LU_RB3_side" pos="0 0 0"/> |
||
| 711 | <body name="proxph3" pos="0.00024 -0.02629 0.001778"> |
||
| 712 | <geom class="myohand_coll" size="0.009 0.022" pos="0.001 -0.022 0.004" euler="1.5 0.045 -.35"/> |
||
| 713 | <joint axis="0.980067 0 0.198669" name="mcp3_flexion" pos="0 0 0" range="0 1.5708"/> |
||
| 714 | <joint axis="-0.198669 0 0.980067" name="mcp3_abduction" pos="0 0 0" range="-0.261799 0.261799"/> |
||
| 715 | <geom mesh="3proxph" name="3proxph" type="mesh"/> |
||
| 716 | <geom name="Thirdpm_wrap" pos="0.0017 -0.0439 0.005" quat="0.700673 0.00645453 -0.712452 0.0377825" class="wrap" size="0.004 0.005" type="cylinder"/> |
||
| 717 | <inertial pos="0 0 0" mass="0.01" fullinertia="0.0001 0.0001 0.0001 0 0 0"/> |
||
| 718 | <!-- <site name="FDS3-P6" pos="0.0009 -0.017 -0.0128"/> |
||
| 719 | <site name="FDS3-P7" pos="0.001 -0.038 -0.002"/> |
||
| 720 | <site name="FDP3-P6" pos="0.0006 -0.0146 -0.0088"/> |
||
| 721 | <site name="FDP3-P7" pos="0.0016 -0.0389 -0.0027"/> |
||
| 722 | <site name="EDC3-P5" pos="0 -0.013 0.01"/> |
||
| 723 | <site name="EDC3-P6" pos="0.002 -0.043 0.013"/> |
||
| 724 | <site name="RI3-P3" pos="0.0076 -0.0117 0.0005"/> |
||
| 725 | <site name="LU_RB3-P3" pos="0.009 -0.004 -0.001"/> |
||
| 726 | <site name="LU_RB3-P4" pos="0.009 -0.039 0.014"/> |
||
| 727 | <site name="UI_UB3-P3" pos="-0.0074 -0.0117 -0.0018"/> |
||
| 728 | <site name="UI_UB3-P4" pos="-0.0053 -0.0352 0.0116"/> --> |
||
| 729 | <site name="FDS3-P6" pos="0.0006 -0.0146 -0.0088"></site> |
||
| 730 | <site name="FDS3-P7" pos="0.0045 -0.0376 -0.0021"></site> |
||
| 731 | <site name="FDP3-P6" pos="0.0007 -0.0158 -0.0081"></site> |
||
| 732 | <site name="FDP3-P7" pos="0.0024 -0.0364 -0.0005"></site> |
||
| 733 | <site name="EDC3-P5" pos="-0.0012 -0.0122 0.0107"></site> |
||
| 734 | <site name="EDC3-P6" pos="0.0017 -0.0414 0.0113"></site> |
||
| 735 | <site name="RI3-P3" pos="0.0076 -0.0117 0.0005"></site> |
||
| 736 | <site name="LU_RB3-P3" pos="0.0068 -0.022 0.0073"></site> |
||
| 737 | <site name="LU_RB3-P4" pos="0.0058 -0.0447 0.0076"></site> |
||
| 738 | <site name="UI_UB3-P3" pos="-0.0012 -0.0183 -0.0093"></site> |
||
| 739 | <site name="UI_UB3-P4" pos="-0.0043 -0.0428 0.0069"></site> <site name="Thirdpm_site_EDC3_side" pos="0.00155575 -0.04355 0.012991"/> |
||
| 740 | <site name="Thirdpm_site_LU_RB3_side" pos="0.00155575 -0.04355 0.012991"/> |
||
| 741 | <site name="Thirdpm_site_UI_UB3_side" pos="0.00155575 -0.04355 0.012991"/> |
||
| 742 | <body name="midph3" pos="0.00165 -0.044211 0.00623"> |
||
| 743 | <joint axis="1 0 0" name="pm3_flexion" pos="0 0 0" range="0 1.5708"/> |
||
| 744 | <geom class="myohand_coll" size="0.008 0.014" pos="0.0012 -0.014 0.00" euler="1.55 0.06 -.35"/> |
||
| 745 | <geom mesh="3midph" name="3midph" type="mesh"/> |
||
| 746 | <inertial pos="0 0 0" mass="0.002" fullinertia="0.0001 0.0001 0.0001 0 0 0"/> |
||
| 747 | <geom name="Thirdmd_wrap" pos="0.0014 -0.0289 0.0012" quat="0.708186 -0.0221627 -0.701515 0.0765368" class="wrap" size="0.003 0.005" type="cylinder"/> |
||
| 748 | <!-- <site name="FDS3-P8" pos="-0.001 -0.013 -0.006"/> |
||
| 749 | <site name="FDP3-P8" pos="-0.0001 -0.0103 -0.0072"/> |
||
| 750 | <site name="FDP3-P9" pos="0.0021 -0.0227 -0.0034"/> |
||
| 751 | <site name="EDC3-P7" pos="0.0006 -0.0037 0.0065"/> |
||
| 752 | <site name="EDC3-P8" pos="0.0011 -0.029 0.0051"/> |
||
| 753 | <site name="LU_RB3-P5" pos="0.006 -0.007 0.006"/> |
||
| 754 | <site name="UI_UB3-P5" pos="-0.0055 -0.0088 0.0058"/> --> |
||
| 755 | <site name="FDS3-P8" pos="0.0002 -0.0107 -0.0054"></site> |
||
| 756 | <site name="FDP3-P8" pos="0.0016 -0.0115 -0.0051"></site> |
||
| 757 | <site name="FDP3-P9" pos="0.0021 -0.0214 -0.0021"></site> |
||
| 758 | <site name="EDC3-P7" pos="0.0004 -0.0042 0.0062"></site> |
||
| 759 | <site name="EDC3-P8" pos="0.0011 -0.029 0.0051"></site> |
||
| 760 | <site name="LU_RB3-P5" pos="0.0049 -0.0116 0.0035"></site> |
||
| 761 | <site name="UI_UB3-P5" pos="-0.0054 -0.0077 0.006"></site> |
||
| 762 | <site name="Thirdmd_site_EDC3_side" pos="0.00142423 -0.028063 0.00714128"/> |
||
| 763 | <body name="distph3" pos="0.001365 -0.029047 0.001954"> |
||
| 764 | <joint axis="1 0 0" name="md3_flexion" pos="0 0 0" range="0 1.5708"/> |
||
| 765 | <geom class="myohand_coll" size="0.007 0.008" pos="0.0013 -0.009 -.002" euler="1.6 .05 0"/> |
||
| 766 | <geom mesh="3distph" name="3distph" type="mesh"/> |
||
| 767 | <inertial pos="0 0 0" mass="0.002" fullinertia="0.0001 0.0001 0.0001 0 0 0"/> |
||
| 768 | <site name="FDP3-P10" pos="0.0008 -0.004 -0.002"/> |
||
| 769 | <site name="EDC3-P9" pos="0.0008 -0.0058 0.0041"/> |
||
| 770 | <geom class="myohand_coll" type="ellipsoid" size=".0055 .008 .002" pos="0.002 -.019 0.003" euler="0.2 0 0.0" rgba="1 1 1 .8"/> |
||
| 771 | <site name="MFtip" size="0.005" pos=".002 -.019 -.001" rgba="0 0 0.8 1"/> |
||
| 772 | </body> |
||
| 773 | </body> |
||
| 774 | </body> |
||
| 775 | </body> |
||
| 776 | |||
| 777 | <!-- RING FINGER --> |
||
| 778 | <body name="fourthmc" pos="-0.012046 -0.040519 0.003513"> |
||
| 779 | <geom name="4mcskin" class="myohand_coll" size="0.0095 0.026" euler="1.55 -.08 0" pos=".001 0.002 -.00"/> |
||
| 780 | <geom mesh="4mc" name="4mc" type="mesh"/> |
||
| 781 | <!-- <geom name="4thmcp_ellipsoid_wrap" pos="-0.00413111 -0.0311007 0.00480312" quat="0.562021 -0.225806 -0.785857 0.124787" class="wrap" size="0.00604155"/> --> |
||
| 782 | <geom name="4thmcp_ellipsoid_wrap" type="cylinder" size="0.0065 0.005" pos="-0.0003 -0.0254 -0.0003" euler="-2.97212118 -1.22173048 -2.46318317" class="wrap"/> |
||
| 783 | <inertial pos="0 0 0" mass="0.02" fullinertia="0.0001 0.0001 0.0001 0 0 0"/> |
||
| 784 | <!-- <site name="FDS5-P4" pos="-0.0029 0.0085 -0.0121"/> |
||
| 785 | <site name="FDS4-P5" pos="-0.0005 -0.0104 -0.0089"/> |
||
| 786 | <site name="FDP5-P4" pos="-0.003 0.015 -0.013"/> |
||
| 787 | <site name="FDP4-P5" pos="-0.0005 -0.0105 -0.0083"/> |
||
| 788 | <site name="EDC4-P4" pos="-0.002 -0.022 0.009"/> |
||
| 789 | <site name="RI4-P2" pos="0.0079 -0.0144 -0.0003"/> |
||
| 790 | <site name="LU_RB4-P2" pos="0.006 -0.0054 -0.0067"/> |
||
| 791 | <site name="UI_UB4-P2" pos="-0.006 -0.021 -0.006"/> --> |
||
| 792 | <site name="FDS5-P4" pos="-0.0029 0.0085 -0.0121"></site> |
||
| 793 | <site name="FDS4-P5" pos="0.002 -0.0138 -0.006"></site> |
||
| 794 | <site name="FDP5-P4" pos="-0.0069 0.0089 -0.0062"></site> |
||
| 795 | <site name="FDP4-P5" pos="-0.0006 -0.0136 -0.0063"></site> |
||
| 796 | <site name="EDC4-P4" pos="-0.0004 -0.0207 0.0095"></site> |
||
| 797 | <site name="RI4-P2" pos="0.0079 -0.0144 -0.0003"></site> |
||
| 798 | <site name="LU_RB4-P2" pos="0.0032 -0.0224 -0.0008"></site> |
||
| 799 | <site name="UI_UB4-P2" pos="-0.0048 -0.0241 -0.0044"></site> |
||
| 800 | <site name="4thmcp_ellipsoid_site_FDS4_side" pos="-0.002 -0.024 0.002"/> |
||
| 801 | <site name="4thmcp_ellipsoid_site_FDP4_side" pos="-0.002 -0.024 0.002"/> |
||
| 802 | <site name="4thmcp_ellipsoid_site_EDC4_side" pos="-0.0003 -0.0254 0.0083"/> |
||
| 803 | <!-- <site name="4thmcp_ellipsoid_site_LU_RB4_side" pos="0.00421203 -0.0190492 -0.00875925"/> --> |
||
| 804 | <site name="4thmcp_ellipsoid_site_UI_UB4_side" pos="-0.0107758 -0.0261555 -0.00498369"/> |
||
| 805 | |||
| 806 | <body name="proxph4" pos="-0.00183 -0.023689 -0.000173"> |
||
| 807 | <joint axis="0.900447 0 0.434966" name="mcp4_flexion" pos="0 0 0" range="0 1.5708"/> |
||
| 808 | <joint axis="-0.434966 0 0.900447" name="mcp4_abduction" pos="0 0 0" range="-0.261799 0.261799"/> |
||
| 809 | <geom class="myohand_coll" size="0.0085 0.018" pos="-.001 -0.0200 .0008" euler="1.57 -.08 0"/> |
||
| 810 | <geom mesh="4proxph" name="4proxph" type="mesh"/> |
||
| 811 | <inertial pos="0 0 0" mass="0.01" fullinertia="0.0001 0.0001 0.0001 0 0 0"/> |
||
| 812 | <!-- <geom name="Fourthpm_wrap" pos="-0.0033 -0.0401 -0.0001" quat="0.35623 -0.660837 -0.527455 0.397727" class="wrap" size="0.004 0.005" type="cylinder"/> --> |
||
| 813 | <geom name="Fourthpm_wrap" type="cylinder" size="0.00400000 0.005" pos="-0.0033 -0.0401 -0.0001" euler="-3.02291026 -1.12311937 -1.27251956" class="wrap"/> |
||
| 814 | <!-- <site name="FDS4-P6" pos="0.0019 -0.02 -0.0049"/> |
||
| 815 | <site name="FDS4-P7" pos="0.0011 -0.0331 -0.0063"/> |
||
| 816 | <site name="FDP4-P6" pos="0.0018 -0.0199 -0.004"/> |
||
| 817 | <site name="FDP4-P7" pos="-0.001 -0.034 -0.006"/> |
||
| 818 | <site name="EDC4-P5" pos="-0.002 -0.013 0.01"/> |
||
| 819 | <site name="EDC4-P6" pos="-0.005 -0.042 0.009"/> |
||
| 820 | <site name="RI4-P3" pos="0.0031 -0.0243 0.0001"/> |
||
| 821 | <site name="LU_RB4-P3" pos="0.0049 -0.0105 0.0053"/> |
||
| 822 | <site name="LU_RB4-P4" pos="0.0017 -0.0304 0.0059"/> |
||
| 823 | <site name="UI_UB4-P3" pos="-0.009 -0.017 0.005"/> |
||
| 824 | <site name="UI_UB4-P4" pos="-0.0086 -0.0401 0.0045"/> --> |
||
| 825 | <site name="FDS4-P6" pos="0.0001 -0.0127 -0.0075"></site> |
||
| 826 | <site name="FDS4-P7" pos="0.0006 -0.0361 -0.001"></site> |
||
| 827 | <site name="FDP4-P6" pos="-0.0012 -0.012 -0.0088"></site> |
||
| 828 | <site name="FDP4-P7" pos="-0.0034 -0.0332 -0.0019"></site> |
||
| 829 | <site name="EDC4-P5" pos="-0.002 -0.0084 0.0088"></site> |
||
| 830 | <site name="EDC4-P6" pos="-0.0038 -0.038 0.0048"></site> |
||
| 831 | <site name="RI4-P3" pos="0.0031 -0.0243 0.0001"></site> |
||
| 832 | <site name="LU_RB4-P3" pos="0.0002 -0.0146 0.0006"></site> |
||
| 833 | <site name="LU_RB4-P4" pos="0.0013 -0.0403 0.0041"></site> |
||
| 834 | <site name="UI_UB4-P3" pos="-0.0042 -0.0212 -0.0055"></site> |
||
| 835 | <site name="UI_UB4-P4" pos="-0.0089 -0.0388 0.0018"></site> |
||
| 836 | <site name="Fourthpm_site_EDC4_side" pos="0.00028232 -0.0402561 0.008299"/> |
||
| 837 | <!-- <site name="Fourthpm_site_LU_RB4_side" pos="-0.00228232 -0.0322561 -0.001299"/> --> |
||
| 838 | <site name="Fourthpm_site_UI_UB4_side" pos="-0.0089 -0.0388 0.0018"/> |
||
| 839 | <body name="midph4" pos="-0.003528 -0.040255 0.001345"> |
||
| 840 | <joint axis="0.921061 0 0.389418" name="pm4_flexion" pos="0 0 0" range="0 1.5708"/> |
||
| 841 | <geom class="myohand_coll" size="0.0075 0.01" pos="-.00 -0.012 -.001" euler="1.58 -.08 0"/> |
||
| 842 | <geom mesh="4midph" name="4midph" type="mesh"/> |
||
| 843 | <geom name="Fourthmd_wrap" type="cylinder" size="0.00300000 0.005" pos="-0.0021 -0.0247 -0.0001" euler="-3.02971705 -1.10287355 -2.87211382" class="wrap"/> |
||
| 844 | <inertial pos="0 0 0" mass="0.003" fullinertia="0.0001 0.0001 0.0001 0 0 0"/> |
||
| 845 | <!-- <site name="FDS4-P8" pos="-0.0009 -0.0147 -0.0021"/> |
||
| 846 | <site name="FDP4-P8" pos="0.001 -0.009 -0.007"/> |
||
| 847 | <site name="FDP4-P9" pos="-0.001 -0.018 -0.003"/> |
||
| 848 | <site name="EDC4-P7" pos="-0.003 -0.015 0.006"/> |
||
| 849 | <site name="EDC4-P8" pos="-0.004 -0.026 0.006"/> |
||
| 850 | <site name="LU_RB4-P5" pos="0.0005 -0.0149 0.0048"/> |
||
| 851 | <site name="UI_UB4-P5" pos="-0.005 -0.014 0.004"/> --> |
||
| 852 | <site name="FDS4-P8" pos="0 -0.0119 -0.0018"></site> |
||
| 853 | <site name="FDP4-P8" pos="0.0023 -0.0071 -0.006"></site> |
||
| 854 | <site name="FDP4-P9" pos="-0.0007 -0.0197 -0.0013"></site> |
||
| 855 | <site name="EDC4-P7" pos="-0.0019 -0.0058 0.0088"></site> |
||
| 856 | <site name="EDC4-P8" pos="-0.004 -0.026 0.006"></site> |
||
| 857 | <site name="LU_RB4-P5" pos="0.0043 -0.0045 0.0043"></site> |
||
| 858 | <site name="UI_UB4-P5" pos="-0.0058 -0.004 0.0034"></site> |
||
| 859 | <site name="Fourthmd_site_EDC4_side" pos="-0.0021 -0.0247 0.0061" rgba="1 0 0 1"/> |
||
| 860 | |||
| 861 | <body name="distph4" pos="-0.002317 -0.024789 0.000563"> |
||
| 862 | <joint axis="0.825336 0 0.564642" name="md4_flexion" pos="0 0 0" range="0 1.5708"/> |
||
| 863 | <geom class="myohand_coll" size="0.0068 0.008" pos="0.00 -0.01 -.002" euler="1.6 -.1 0"/> |
||
| 864 | <geom mesh="4distph" name="4distph" type="mesh"/> |
||
| 865 | <inertial pos="0 0 0" mass="0.002" fullinertia="0.0001 0.0001 0.0001 0 0 0"/> |
||
| 866 | <site name="FDP4-P10" pos="0.0002 -0.014 -0.0022"/> |
||
| 867 | <site name="EDC4-P9" pos="-0.001 -0.008 0.003"/> |
||
| 868 | <geom class="myohand_coll" type="ellipsoid" size=".005 .008 .002" pos="-.004 -.019 0.003" euler="0.2 -.5 0.0" rgba="1 1 1 .8"/> |
||
| 869 | <site name="RFtip" size="0.005" pos="-.001 -.018 .001" rgba="0.8 0.8 0 1"/> |
||
| 870 | </body> |
||
| 871 | </body> |
||
| 872 | </body> |
||
| 873 | </body> |
||
| 874 | |||
| 875 | <!-- Little Finger --> |
||
| 876 | <body name="fifthmc" pos="-0.021896 -0.034683 -0.004218"> |
||
| 877 | <geom name="5mcskin" class="myohand_coll" size="0.0095 0.024" euler="1.6 -.13 0" pos=".001 0.002 -.001"/> |
||
| 878 | <geom mesh="5mc" name="5mc" type="mesh"/> |
||
| 879 | <!-- <geom name="5thmcp_ellipsoid_wrap" pos="0.00188166 -0.0190329 -0.0064628" quat="0.442485 -0.205619 -0.870066 -0.070096" class="wrap" size="0.00833444"/> --> |
||
| 880 | <geom name="5thmcp_ellipsoid_wrap" type="cylinder" size="0.0065 0.005" pos="-0.0004 -0.0218 -0.0037" euler="-2.67175002 -0.83479098 -2.4659757" class="wrap"/> |
||
| 881 | <inertial pos="0 0 0" mass="0.02" fullinertia="0.0001 0.0001 0.0001 0 0 0"/> |
||
| 882 | <site name="ECU-P6" pos="-0.0006 0.0207 0.0029"/> |
||
| 883 | <site name="FCU-P5" pos="0.0015 0.017 -0.0033"/> |
||
| 884 | <site name="FDS5-P5" pos="-0.00010445 -0.01308000 -0.00952000"/> |
||
| 885 | <!-- <site name="FDP5-P5" pos="0.004 0 -0.004"/> |
||
| 886 | <site name="EDC5-P4" pos="-0.005 -0.018 0.004"/> --> |
||
| 887 | <site name="FDP5-P5" pos="0.001 -0.013 -0.0087"></site> |
||
| 888 | <site name="EDC5-P4" pos="-0.0013 -0.0182 0.0057"></site> |
||
| 889 | <site name="EDM-P5" pos="0.0013 0.0244 0.0079"/> |
||
| 890 | <site name="EDM-P6" pos="-0.0054 -0.0185 0.0032"/> |
||
| 891 | <!-- <site name="RI5-P2" pos="0.003 -0.0162 0.005"/> |
||
| 892 | <site name="LU_RB5-P2" pos="0.0034 -0.0001 -0.0009"/> |
||
| 893 | <site name="UI_UB5-P2" pos="-0.008 -0.019 -0.006"/> --> |
||
| 894 | <site name="RI5-P2" pos="0.0061 -0.0149 -0.0066"></site> |
||
| 895 | <site name="LU_RB5-P2" pos="0.0061 -0.0199 -0.0002"></site> |
||
| 896 | <site name="UI_UB5-P2" pos="-0.0051 -0.0197 -0.0076"></site> |
||
| 897 | <site name="5thmcp_ellipsoid_site_FDS5_side" pos="0.00787277 -0.0230374 -0.0115918"/> |
||
| 898 | <site name="5thmcp_ellipsoid_site_FDP5_side" pos="-0.0107453 -0.0256233 -0.000443011"/> |
||
| 899 | <site name="5thmcp_ellipsoid_site_EDC5_side" pos="-0.0101211 -0.0279141 -0.00430677"/> |
||
| 900 | <site name="5thmcp_ellipsoid_site_LU_RB5_side" pos="-0.00890322 -0.0194098 -0.0110643"/> |
||
| 901 | <site name="5thmcp_ellipsoid_site_UI_UB5_side" pos="0.00407413 -0.0225573 -0.0142669"/> |
||
| 902 | <body name="proxph5" pos="-0.001597 -0.021431 -0.001496"> |
||
| 903 | <joint axis="0.825336 0 0.564642" name="mcp5_flexion" pos="0 0 0" range="0 1.5708"/> |
||
| 904 | <joint axis="-0.564642 0 0.825336" name="mcp5_abduction" pos="0 0 0" range="-0.261799 0.261799"/> |
||
| 905 | <geom class="myohand_coll" size="0.008 0.016" pos="-.003 -0.018 -.002" euler="1.68 -.1 0"/> |
||
| 906 | <geom mesh="5proxph" name="5proxph" type="mesh"/> |
||
| 907 | <geom name="Fifthpm_wrap" pos="-0.0046 -0.0349 -0.0042" quat="0.4295 -0.0398509 -0.90052 -0.0548241" class="wrap" size="0.004 0.005" type="cylinder"/> |
||
| 908 | <inertial pos="0 0 0" mass="0.005" fullinertia="0.0001 0.0001 0.0001 0 0 0"/> |
||
| 909 | <!-- <site name="FDS5-P6" pos="0.0018 -0.0143 -0.0055"/> |
||
| 910 | <site name="FDS5-P7" pos="0.001 -0.021 -0.007"/> |
||
| 911 | <site name="FDP5-P6" pos="-0.001 -0.018 -0.008"/> |
||
| 912 | <site name="FDP5-P7" pos="-0.001 -0.026 -0.007"/> |
||
| 913 | <site name="EDC5-P5" pos="-0.006 -0.018 0.004"/> |
||
| 914 | <site name="EDC5-P6" pos="-0.008 -0.034 0.001"/> --> |
||
| 915 | <site name="EDM-P7" pos="-0.0054 -0.0324 0.0001"/> |
||
| 916 | <!-- <site name="RI5-P3" pos="0.003 -0.018 0.001"/> |
||
| 917 | <site name="LU_RB5-P3" pos="0.0047 -0.01 0.0042"/> |
||
| 918 | <site name="LU_RB5-P4" pos="-0.002 -0.034 0.002"/> |
||
| 919 | <site name="UI_UB5-P3" pos="-0.0073 -0.0152 -0.0032"/> |
||
| 920 | <site name="UI_UB5-P4" pos="-0.009 -0.034 -0.006"/> --> |
||
| 921 | <site name="FDS5-P6" pos="-0.0017 -0.0149 -0.0071"></site> |
||
| 922 | <site name="FDS5-P7" pos="-0.0025 -0.0259 -0.0054"></site> |
||
| 923 | <site name="FDP5-P6" pos="-0.001 -0.0137 -0.0051"></site> |
||
| 924 | <site name="FDP5-P7" pos="-0.0005 -0.0291 -0.008"></site> |
||
| 925 | <site name="EDC5-P5" pos="-0.0045 -0.0123 0.0063"></site> |
||
| 926 | <site name="EDC5-P6" pos="-0.0079 -0.0322 0.0025"></site> |
||
| 927 | <site name="RI5-P3" pos="0.0047 -0.0143 0.0023"></site> |
||
| 928 | <site name="LU_RB5-P3" pos="0.0035 -0.0131 0.002"></site> |
||
| 929 | <site name="LU_RB5-P4" pos="-0.0032 -0.0372 0.0031"></site> |
||
| 930 | <site name="UI_UB5-P3" pos="-0.0031 -0.0177 -0.0079"></site> |
||
| 931 | <site name="UI_UB5-P4" pos="-0.0107 -0.0359 -0.0032"></site> |
||
| 932 | |||
| 933 | <site name="Fifthpm_site_EDC5_side" pos="-0.0026 -0.0399 -0.0022"/> |
||
| 934 | <site name="Fifthpm_site_LU_RB5_side" pos="-0.0032 -0.0372 0.0031"/> |
||
| 935 | <site name="Fifthpm_site_UI_UB5_side" pos="-0.0107 -0.0359 -0.0032"/> |
||
| 936 | |||
| 937 | <body name="midph5" pos="-0.005279 -0.035563 -0.002879"> |
||
| 938 | <joint axis="0.825336 0 0.564642" name="pm5_flexion" pos="0 0 0" range="0 1.5708"/> |
||
| 939 | <geom class="myohand_coll" size="0.007 0.009" pos="-.001 -0.011 -.0025" euler="1.68 -.12 0"/> |
||
| 940 | <geom mesh="5midph" name="5midph" type="mesh"/> |
||
| 941 | <geom name="Fifthmd_wrap" pos="-0.0025 -0.0205 -0.0025" quat="0.35929 -0.0253303 -0.929016 -0.0848458" class="wrap" size="0.003 0.005" type="cylinder"/> |
||
| 942 | <inertial pos="0 0 0" mass="0.002" fullinertia="0.0001 0.0001 0.0001 0 0 0"/> |
||
| 943 | <site name="FDS5-P8" pos="0.0011 -0.0182 -0.0046"/> |
||
| 944 | <site name="FDP5-P8" pos="-0.001 -0.009 -0.004"/> |
||
| 945 | <site name="FDP5-P9" pos="-0.001 -0.016 -0.004"/> |
||
| 946 | <site name="EDC5-P7" pos="-0.005 -0.01 0.002"/> |
||
| 947 | <site name="EDC5-P8" pos="-0.005 -0.021 0"/> |
||
| 948 | <site name="LU_RB5-P5" pos="-0.0007 -0.0167 0.0017"/> |
||
| 949 | <site name="UI_UB5-P5" pos="-0.005 -0.016 -0.002"/> |
||
| 950 | <site name="Fifthmd_site_EDC5_side" pos="-0.00694323 -0.0205834 0.00153122"/> |
||
| 951 | <site name="EDM-P8" pos="-0.002 -0.003 0.003"/> |
||
| 952 | |||
| 953 | <body name="distph5" pos="-0.002871 -0.020677 -0.002243"> |
||
| 954 | <joint axis="0.643112 -0.226804 0.731414" name="md5_flexion" pos="0 0 0" range="0 1.5708"/> |
||
| 955 | <geom class="myohand_coll" size="0.006 0.007" pos="-.0002 -0.009 -.002" euler="1.65 -.1 0"/> |
||
| 956 | <geom mesh="5distph" name="5distph" type="mesh"/> |
||
| 957 | <inertial pos="0 0 0" mass="0.001" fullinertia="0.0001 0.0001 0.0001 0 0 0"></inertial> |
||
| 958 | <site name="FDP5-P10" pos="-0.0003 -0.0139 -0.0048"/> |
||
| 959 | <site name="EDC5-P9" pos="-0.002 -0.007 0"/> |
||
| 960 | <site name="EDM-P9" pos="-0.0023 -0.0033 0.0006"/> |
||
| 961 | <geom class="myohand_coll" type="ellipsoid" size=".0045 .006 .002" pos="-.005 -.018 0.000" euler="0.2 -.8 0.0" rgba="1 1 1 .8"/> |
||
| 962 | <site name="LFtip" size="0.005" pos="-.001 -.017 -.003" rgba="0.8 0 0.8 1"/> |
||
| 963 | </body> |
||
| 964 | </body> |
||
| 965 | </body> |
||
| 966 | </body> |
||
| 967 | </body> |
||
| 968 | </body> |
||
| 969 | </body> |
||
| 970 | </body> |
||
| 971 | </body> |
||
| 972 | </body> |
||
| 973 | </body> |
||
| 974 | </body> |
||
| 975 | </body> |
||
| 976 | </body> |
||
| 977 | </body> |
||
| 978 | </mujocoinclude> |