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dataset_model_temp.xml
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<mujoco>
<compiler angle="radian" coordinate="local" />
<option timestep="0.0022222" iterations="20" apirate="200">
<flag warmstart="enable" />
</option>
<size njmax="500" nconmax="100" nuser_jnt="1" nuser_site="1" nuser_tendon="1" nuser_sensor="1" nuser_actuator="16" nstack="600000" />
<visual>
<map fogstart="3" fogend="5" force="0.1" />
<quality shadowsize="4096" />
</visual>
<default>
<default class="robot0:asset_class">
<geom friction="1 0.5 0.1" condim="6" contype="1" conaffinity="1" />
<joint limited="true" damping="0.01" armature="0.001" margin="0.01" frictionloss="0.001" />
<site size="0.005" rgba="0.4 0.9 0.4 1" />
<general ctrllimited="true" forcelimited="true" />
</default>
<default class="robot0:D_Touch">
<site type="box" size="0.009 0.004 0.013" pos="0 -0.004 0.018" rgba="0.8 0.8 0.8 0.15" group="4" />
</default>
<default class="robot0:DC_Hand">
<geom material="robot0:MatColl" solimp="0.9 0.95 0.001 0.5 2" contype="1" conaffinity="0" group="1" />
</default>
<default class="robot0:D_Vizual">
<geom material="robot0:MatViz" contype="0" conaffinity="0" group="2" type="mesh" />
</default>
<default class="robot0:free">
<joint type="free" damping="0" armature="0" limited="false" />
</default>
</default>
<contact>
<pair geom1="robot0:C_FF1" geom2="robot0:C_TH1" condim="1" />
<pair geom1="robot0:C_FF2" geom2="robot0:C_TH1" condim="1" />
<pair geom1="robot0:C_FF3" geom2="robot0:C_TH1" condim="1" />
<pair geom1="robot0:C_MF3" geom2="robot0:C_TH1" condim="1" />
<pair geom1="robot0:C_MF1" geom2="robot0:C_TH1" condim="1" />
<pair geom1="robot0:C_RF1" geom2="robot0:C_TH1" condim="1" />
<pair geom1="robot0:C_LF1" geom2="robot0:C_TH1" condim="1" />
<pair geom1="robot0:C_palm0" geom2="robot0:C_TH1" condim="1" />
<pair geom1="robot0:C_MF1" geom2="robot0:C_FF1" condim="1" />
<pair geom1="robot0:C_RF1" geom2="robot0:C_MF1" condim="1" />
<pair geom1="robot0:C_LF1" geom2="robot0:C_RF1" condim="1" />
<pair geom1="robot0:C_MF3" geom2="robot0:C_FF3" condim="1" />
<pair geom1="robot0:C_RF3" geom2="robot0:C_MF3" condim="1" />
<pair geom1="robot0:C_LF3" geom2="robot0:C_RF3" condim="1" />
<pair geom1="robot0:C_LF1" geom2="robot0:C_RF1" condim="1" />
<pair geom1="robot0:C_LF1" geom2="robot0:C_MF1" condim="1" />
<pair geom1="robot0:C_LF1" geom2="robot0:C_RF2" condim="1" />
<pair geom1="robot0:C_LF2" geom2="robot0:C_RF1" condim="1" />
<pair geom1="robot0:C_LF2" geom2="robot0:C_RF2" condim="1" />
</contact>
<actuator>
<motor gear="1" name="robot0:A_slide0" joint="robot0:slide0" />
<motor gear="1" name="robot0:A_slide1" joint="robot0:slide1" />
<motor gear="1" name="robot0:A_slide2" joint="robot0:slide2" />
<motor gear="1" name="robot0:A_WRJ0" user="2036" joint="robot0:WRJ0" />
<motor gear="1" name="robot0:A_WRJ1" user="2038" joint="robot0:WRJ1" />
<motor gear="1" name="robot0:A_WRJ2" user="1984" joint="robot0:WRJ2" />
<motor gear="1" name="robot0:A_FFJ3x" user="2004" joint="robot0:FFJ3x" />
<motor gear="1" name="robot0:A_FFJ3z" user="2004" joint="robot0:FFJ3z" />
<motor gear="1" name="robot0:A_FFJ2x" user="2004" joint="robot0:FFJ2x" />
<motor gear="1" name="robot0:A_FFJ1x" user="2004" joint="robot0:FFJ1x" />
<motor gear="1" name="robot0:A_MFJ3x" user="2004" joint="robot0:MFJ3x" />
<motor gear="1" name="robot0:A_MFJ3z" user="2004" joint="robot0:MFJ3z" />
<motor gear="1" name="robot0:A_MFJ2x" user="2004" joint="robot0:MFJ2x" />
<motor gear="1" name="robot0:A_MFJ1x" user="2004" joint="robot0:MFJ1x" />
<motor gear="1" name="robot0:A_LFJ3x" user="2004" joint="robot0:LFJ3x" />
<motor gear="1" name="robot0:A_LFJ3z" user="2004" joint="robot0:LFJ3z" />
<motor gear="1" name="robot0:A_LFJ2x" user="2004" joint="robot0:LFJ2x" />
<motor gear="1" name="robot0:A_LFJ1x" user="2004" joint="robot0:LFJ1x" />
<motor gear="1" name="robot0:A_RFJ3x" user="2004" joint="robot0:RFJ3x" />
<motor gear="1" name="robot0:A_RFJ3z" user="2004" joint="robot0:RFJ3z" />
<motor gear="1" name="robot0:A_RFJ2x" user="2004" joint="robot0:RFJ2x" />
<motor gear="1" name="robot0:A_RFJ1x" user="2004" joint="robot0:RFJ1x" />
<motor gear="1" name="robot0:A_THJ3x" user="2004" joint="robot0:THJ3x" />
<motor gear="1" name="robot0:A_THJ3z" user="2004" joint="robot0:THJ3z" />
<motor gear="1" name="robot0:A_THJ2x" user="2004" joint="robot0:THJ2x" />
<motor gear="1" name="robot0:A_THJ1x" user="2004" joint="robot0:THJ1x" />
</actuator>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" width="32" height="32" />
<texture name="robot0:texplane" type="2d" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.15 0.2" width="512" height="512" />
<texture name="robot0:texgeom" type="cube" builtin="flat" mark="cross" width="127" height="127" rgb1="0.3 0.6 0.5" rgb2="0.3 0.6 0.5" markrgb="0 0 0" random="0.01" />
<material name="robot0:MatGnd" reflectance="0.5" texture="robot0:texplane" texrepeat="1 1" texuniform="true" />
<material name="robot0:MatColl" specular="1" shininess="0.3" reflectance="0.5" rgba="0.4 0.5 0.6 1" />
<material name="robot0:MatViz" specular="0.75" shininess="0.1" reflectance="0.5" rgba="0.93 0.93 0.93 1" />
<material name="robot0:object" texture="robot0:texgeom" texuniform="false" />
<material name="floor_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 0" />
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="robot0:texplane" />
<mesh name="C_banana1" file="J:\code\HOIC\assets\SingleDepth\Collision/banana21.stl" scale="0.95 0.95 1.0" />
<mesh name="C_banana2" file="J:\code\HOIC\assets\SingleDepth\Collision/banana22.stl" scale="0.95 0.95 1.0" />
<mesh name="C_banana3" file="J:\code\HOIC\assets\SingleDepth\Collision/banana23.stl" scale="0.95 0.95 1.0" />
<mesh name="V_banana" file="J:\code\HOIC\assets\SingleDepth\Visual/banana.stl" />
<material name="object" specular="0.75" shininess="0.1" reflectance="0.3" rgba="0.8 0.8 0.8 1.0" />
<material name="object_ref" specular="0.75" shininess="0.1" reflectance="0.3" rgba="0.8 0.8 0.8 1.0" />
</asset>
<worldbody>
<geom conaffinity="1" condim="3" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="100 100 .2" type="plane" material="MatPlane" />
<body name="table">
<geom name="C_Table" type="box" size="0.8 0.8 0.25" rgba="0.8 0.9 0.8 1" pos="0 0 0.25" condim="4" contype="1" conaffinity="0" />
</body>
<body name="handworld" pos="0 0 0" euler="0 0 0">
<body name="link_palm" pos="0 0 0" euler="0 0 0" childclass="robot0:asset_class">
<joint name="robot0:slide0" type="slide" pos="0 0 0" axis="1 0 0" range="-2.0 2.0" armature="0.005" />
<joint name="robot0:slide1" type="slide" pos="0 0 0" axis="0 1 0" range="-2.0 2.0" armature="0.005" />
<joint name="robot0:slide2" type="slide" pos="0 0 0" axis="0 0 1" range="0.2 2.0" armature="0.005" />
<joint name="robot0:WRJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="-3.14 3.14" armature="0.005" user="1123" />
<joint name="robot0:WRJ1" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" armature="0.005" user="1123" />
<joint name="robot0:WRJ2" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.14 3.14" armature="0.005" user="1123" />
<inertial pos="-0.01 0.03 0.005" mass="0.3" diaginertia="0.001 0.001 0.001" />
<geom class="robot0:DC_Hand" name="robot0:C_palm0" type="box" pos="-0.03 0.01 0.005" size="0.02 0.02 0.0135" euler="0 0 0" />
<geom class="robot0:DC_Hand" name="robot0:C_palm1" type="box" pos="-0.03 0.05 0.005" size="0.02 0.02 0.0135" euler="0 0 0" />
<geom class="robot0:DC_Hand" name="robot0:C_palm2" type="box" pos="0.01 0.01 0.005" size="0.02 0.02 0.0135" euler="0 0 0" />
<geom class="robot0:DC_Hand" name="robot0:C_palm3" type="box" pos="0.01 0.05 0.005" size="0.02 0.02 0.0135" euler="0 0 0" />
<body name="link_ff_pm" quat="0.124112 -0.0723957 0.989102 0.0321224" pos="-0.0394865 0.0673819 0.0011229">
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<joint name="robot0:FFJ3z" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.35 0.3" armature="0.005" user="1123" />
<inertial pos="0 0.0228296 0" mass="0.014" diaginertia="1e-05 1e-05 1e-05" />
<geom class="robot0:DC_Hand" name="robot0:C_FF3" type="capsule" euler="1.57 0 0" pos="0 0.0228296 0" size="0.01 0.0228296" />
<body name="link_ff_md" quat="-0.999945 0 0 -0.0104861" pos="0 0.0456592 0">
<inertial pos="0 0.0136348 0" mass="0.012" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:FFJ2x" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.1 2.0" armature="0.005" user="1123" />
<geom class="robot0:DC_Hand" name="robot0:C_FF2" type="capsule" euler="1.57 0 0" pos="0 0.0136348 0" size="0.009 0.0136348" />
<body name="link_ff_dd" quat="-0.9992 0 0 -0.0399893" pos="0 0.0272696 0">
<inertial pos="0 0.0093181 0" mass="0.01" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:FFJ1x" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.1 2.0" armature="0.005" user="1123" />
<geom class="robot0:DC_Hand" name="robot0:C_FF1" type="capsule" euler="1.57 0 0" pos="0 0.0093181 0" size="0.0085 0.0093181" />
<body name="link_ff_tip" pos="0.001204 0.018596 0.000187">
<inertial pos="0 0 0" euler="0 0 0" mass="0.001" diaginertia="1e-06 1e-06 1e-06" />
</body>
</body>
</body>
</body>
<body name="link_mf_pm" quat="0.0601268 0.0089805 0.998009 0.0168109" pos="-0.017018 0.0703726 0.00635547">
<inertial pos="0 0.02810025 0" mass="0.014" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:MFJ3x" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.3 1.6" armature="0.005" user="1123" />
<joint name="robot0:MFJ3z" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.4 0.3" armature="0.005" user="1123" />
<geom class="robot0:DC_Hand" name="robot0:C_MF3" type="capsule" euler="1.57 0 0" pos="0 0.02810025 0" size="0.01 0.02810025" />
<body name="link_mf_md" quat="-0.999229 0 0 -0.0392598" pos="0 0.0562005 0">
<inertial pos="0 0.0160573 0" mass="0.012" diaginertia="1e-05 1e-05 1e-05" />
<joint name="robot0:MFJ2x" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.1 2.0" armature="0.005" user="1123" />
<geom class="robot0:DC_Hand" name="robot0:C_MF2" type="capsule" euler="1.57 0 0" pos="0 0.0160573 0" size="0.009 0.0160573" />
<body name="link_mf_dd" quat="-0.999973 0 0 0.0073836" pos="0 0.0321146 0">
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<joint name="robot0:MFJ1x" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.1 2.0" armature="0.005" user="1123" />
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</body>
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<joint name="robot0:LFJ3z" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.65 0.2" armature="0.005" user="1123" />
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<inertial pos="0 0.0111746 0" mass="0.06" diaginertia="0.0005 0.0005 0.0005" />
<joint name="robot0:LFJ2x" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.1 2.0" armature="0.005" user="1123" />
<geom class="robot0:DC_Hand" name="robot0:C_LF2" type="capsule" euler="1.57 0 0" pos="0 0.0111746 0" size="0.007 0.0111746" />
<body name="link_lf_dd" quat="-0.999229 0 0 0.0392598" pos="0 0.0223492 0">
<inertial pos="0 0.007704 0" mass="0.05" diaginertia="0.0005 0.0005 0.0005" />
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<geom class="robot0:DC_Hand" name="robot0:C_LF1" type="capsule" euler="1.57 0 0" pos="0 0.007704 0" size="0.006 0.007704" />
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<inertial pos="0 0 0" euler="0 0 0" mass="0.001" diaginertia="1e-06 1e-06 1e-06" />
</body>
</body>
</body>
</body>
<body name="link_rf_pm" quat="-0.00348342 0.0794858 0.995874 -0.0436436" pos="0.000347831 0.0693786 0.00601275">
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<joint name="robot0:RFJ2x" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.1 2.0" armature="0.005" user="1123" />
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<joint name="robot0:RFJ1x" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.1 2.0" armature="0.005" user="1123" />
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</body>
</body>
</body>
</body>
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<inertial pos="0 0.02441495 0" mass="0.016" diaginertia="1e-05 1e-05 1e-05" />
<geom class="robot0:DC_Hand" name="robot0:C_TH3" euler="1.57 0 0" type="capsule" pos="0 0.02441495 0" size="0.013 0.02441495" />
<body name="link_th_md" quat="-0.994276 0.0997603 -0.00381833 0.0380559" pos="0 0.0488299 0">
<joint name="robot0:THJ2x" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.9 0.2" armature="0.005" user="1123" />
<inertial pos="0 0.01749035 0" mass="0.014" diaginertia="1e-05 1e-05 1e-05" />
<geom class="robot0:DC_Hand" name="robot0:C_TH2" type="capsule" euler="1.57 0 0" pos="0 0.01749035 0" size="0.011 0.01749035" />
<body name="link_th_dd" quat="-0.994683 0.0998011 0.00253618 -0.0252774" pos="0 0.0349807 0">
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<inertial pos="0 0.01241705 0" mass="0.012" diaginertia="1e-05 1e-05 1e-05" />
<geom class="robot0:DC_Hand" name="robot0:C_TH1" type="capsule" euler="1.57 0 0" pos="0 0.01241705 0" size="0.009 0.01241705" />
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</body>
</body>
</body>
</body>
</body>
</body>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 1 4" dir="0 0 -1" name="light0" />
<body name="banana" pos="0 0 0" quat="1 0 0 0">
<geom name="C_banana1" condim="3" density="125" friction="1 0.5 0.1" group="4" conaffinity="1" contype="1" solref="-6000 -300" solimp="1.0 0.95 0.001 0.5 2" mesh="C_banana1" type="mesh" material="object" />
<geom name="C_banana2" condim="3" density="125" friction="1 0.5 0.1" group="4" conaffinity="1" contype="1" solref="-6000 -300" solimp="1.0 0.95 0.001 0.5 2" mesh="C_banana2" type="mesh" material="object" />
<geom name="C_banana3" condim="3" density="125" friction="1 0.5 0.1" group="4" conaffinity="1" contype="1" solref="-6000 -300" solimp="1.0 0.95 0.001 0.5 2" mesh="C_banana3" type="mesh" material="object" />
<geom name="V_banana" density="0" conaffinity="0" contype="0" group="1" mesh="V_banana" type="mesh" material="object" />
<joint armature="0.001" damping="0" frictionloss="0.001" limited="false" type="free" />
</body>
</worldbody>
<sensor /><tendon /><equality /></mujoco>