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Models:
Joel Williams
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myosuite
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[87e8bf]: / myosuite / envs / myo / assets / hand / myohand_die.xml

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<mujoco model="MyoHand model for object grasps">

<!-- =================================================

	Copyright 2020 Vikash Kumar

	Model	:: MyoHand (MuJoCoV2.0)

	Author	:: Vikash Kumar (vikashplus@gmail.com)

	source	:: https://github.com/vikashplus

	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.

====================================================== -->



    <include file="../../../../simhive/myo_sim/hand/assets/myohand_assets.xml"/>

    <include file="../../../../simhive/myo_sim/scene/myosuite_scene.xml"/>

    <compiler meshdir='../../../../simhive/myo_sim/' texturedir='../../../../simhive/myo_sim/'/>



    <asset>

        <texture name='dice' file="../../envs/myo/assets/hand/dice.png" gridsize="3 4" gridlayout="..U.LFRB..D."/>

        <material name="MatDice" texture="dice" specular=".3" shininess="1" reflectance=".00001"/>

    </asset>





    <worldbody>

        <include file="../../../../simhive/myo_sim/hand/assets/myohand_body.xml"/>



        <!-- <site name="eps_ball" type="sphere" pos="-.230 -.530 1.445" size="0.075" rgba="1 1 0 .1" group="1"/> -->

        <body name="Object" pos="-.240 -.535 1.46" user="1001 0 2003 27 0 0 0.06 0 0">

            <inertial pos="0 0 0" mass="0.108" diaginertia="6.48e-05 6.48e-05 6.48e-05" />



            <geom pos='0 0 0' type="capsule" group="2"  rgba='1 1 1 1' fromto=" 0.0235 -.0235 -.0235  .0235 .0235 -.0235" size=".0050"/>

            <geom pos='0 0 0' type="capsule" group="2"  rgba='1 1 1 1' fromto="-.0235 -.0235 -.0235 -.0235 .0235 -.0235" size=".0050"/>

            <geom pos='0 0 0' type="capsule" group="2"  rgba='1 1 1 1' fromto=" -.0235 .0235 -.0235  .0235 .0235 -.0235" size=".0050"/>

            <geom pos='0 0 0' type="capsule" group="2"  rgba='1 1 1 1' fromto=" -.0235 -.0235 -.0235  .0235 -.0235 -.0235" size=".0050"/>

            <geom pos='0 0 0' type="capsule" group="2"  rgba='1 1 1 1' fromto=" .0235 -.0235 .0235 .0235 .0235 .0235" size=".0050"/>

            <geom pos='0 0 0' type="capsule" group="2"  rgba='1 1 1 1' fromto="-.0235 -.0235 .0235 -.0235 .0235 .0235" size=".0050"/>

            <geom pos='0 0 0' type="capsule" group="2"  rgba='1 1 1 1' fromto=" -.0235 .0235 .0235  .0235 .0235 .0235" size=".0050"/>

            <geom pos='0 0 0' type="capsule" group="2"  rgba='1 1 1 1' fromto=" -.0235 -.0235 .0235  .0235 -.0235 .0235" size=".0050"/>

            <geom pos='0 0 0' type="capsule" group="2"  rgba='1 1 1 1' fromto=".0235 -.0235 -.0235  .0235 -.0235 .0235" size=".0050"/>

            <geom pos='0 0 0' type="capsule" group="2"  rgba='1 1 1 1' fromto=".0235 .0235 -.0235  .0235 .0235 .0235" size=".0050"/>

            <geom pos='0 0 0' type="capsule" group="2"  rgba='1 1 1 1' fromto="-.0235 .0235 -.0235  -.0235 .0235 .0235" size=".0050"/>

            <geom pos='0 0 0' type="capsule" group="2"  rgba='1 1 1 1' fromto="-.0235 -.0235 -.0235  -.0235 -.0235 .0235" size=".0050"/>



            <geom type="box" group="2" size=".0284 .0236 .0236" material="MatDice"/>

            <geom type="box" group="2" size=".0236 .0284 .0236" material="MatDice"/>

            <geom type="box" group="2" size=".0236 .0236 .0284" material="MatDice"/>



            <joint name="OBJTx" pos="0 0 0" axis="1 0 0" limited="true" type="slide" range="-.25 .25" damping="0.001" />

            <joint name="OBJTy" pos="0 0 0" axis="0 1 0" limited="true" type="slide" range="-.25 .25" damping="0.001" />

            <joint name="OBJTz" pos="0 0 0" axis="0 0 1" limited="true" type="slide" range="-.25 .25" damping="0.001" />

            <joint name="OBJRx" pos="0 0 0  " axis="1 0 0" limited="false" damping="0.001" />

            <joint name="OBJRy" pos="0 0 0" axis="0 1 0" limited="false" damping="0.001" />

            <joint name="OBJRz" pos="0 0 0" axis="0 0 1" limited="false" damping="0.001" />



            <!-- <geom name="dice" type="box" size="0.0284 0.0284 0.0284" condim="4" material="MatDice"/> -->

            <site name="object_o" type="sphere" size="0.005" rgba="0.8 0.8 0.8 0.8" group="4" pos="0 0 0" />

            <site name="object_x" type="sphere" size="0.005" rgba="0.8 0.2 0.2 0.8" group="4" pos="0.028 0 0" />

            <site name="object_y" type="sphere" size="0.005" rgba="0.2 0.8 0.2 0.8" group="4" pos="0 .028 0" />

            <site name="object_z" type="sphere" size="0.005" rgba="0.2 0.2 0.8 0.8" group="4" pos="0 0 .028" />

        </body>



        <body name="target" pos="-.340 -.535 1.46" euler="0.001 0.001 0.001">

            <geom name="target_dice" type="box" size="0.026 0.026 0.026" contype="0" conaffinity="0" material="MatDice" rgba='1 1 1 .3' group="2" />

            <site name="target_ball" type="sphere" size="0.045" rgba="0.2 1.7 0.2 0.1"/>

            <site name="target_o" type="sphere" size="0.005" rgba="0.8 0.8 0.8 0.8" group="4" pos="0 0 0" />

            <site name="target_x" type="sphere" size="0.005" rgba="0.8 0.2 0.2 0.8" group="4" pos="0.03 0 0" />

            <site name="target_y" type="sphere" size="0.005" rgba="0.2 0.8 0.2 0.8" group="4" pos="0 .03 0" />

            <site name="target_z" type="sphere" size="0.005" rgba="0.2 0.2 0.8 0.8" group="4" pos="0 0 .03" />

        </body>



    </worldbody>



</mujoco>