From d5a40c379089df98606a6a5182d00b0da65dffac Mon Sep 17 00:00:00 2001
From: Kevin Zakka <zakka@google.com>
Date: Mon, 27 Nov 2023 10:32:25 -0800
Subject: [PATCH] Add useful keyframes to the shadow hand.

PiperOrigin-RevId: 585693042
Change-Id: I612216ec66923675a9fa6382e1dfa4db83c40800
---
 shadow_hand/keyframes.xml | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)
 create mode 100644 shadow_hand/keyframes.xml

diff --git a/shadow_hand/keyframes.xml b/shadow_hand/keyframes.xml
new file mode 100644
index 00000000..74280815
--- /dev/null
+++ b/shadow_hand/keyframes.xml
@@ -0,0 +1,17 @@
+<mujoco>
+  <keyframe>
+    <key name="scissors" qpos="0 0 -0.2094 0 0 0 0.002094 0 0 0 0 1.484 1.484 1.484 0 0 1.484 1.484 1.484 0 0 0 0.6981 0"/>
+    <key name="rock" qpos="0 0 0 1.484 1.484 1.484 0 1.484 1.484 1.484 0 1.484 1.484 1.484 0 0 1.484 1.484 1.484 0.1745 1.239 0.08727 0.6981 0.6981"/>
+    <key name="paper" qpos="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.6981 0"/>
+    <key name="open hand" qpos="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"/>
+    <key name="close hand" qpos="0 0 0 1.571 1.571 1.571 0 1.571 1.571 1.571 0 1.571 1.571 1.571 0 0 1.571 1.571 1.571 0.17 1.2 0 0.61 0.52"/>
+    <key name="point" qpos="0.00428 -0.06155 -0.06356 0.001284 0.03357 -0.009956 0.007048 1.522 1.635 1.422 0.01667 1.558 1.588 0.6359 0.01429 -0.005259 1.484 1.647 1.47 0.1813 1.091 0.001119 0.6403 0.5175"/>
+    <key name="two finger pinch" qpos="0.0188 -0.2686 -0.3013 0.9774 1.045 0.1665 0.1255 0.165 0.3459 0.0005741 -0.1349 0.4096 0.04252 0.03161 0.1938 -0.2039 0.05253 0.4297 0.009526 0.03082 1.08 0.1604 0.5839 0.3069"/>
+    <key name="three finger pinch" qpos="-0.01977 -0.5255 -0.3464 1.253 0.7836 -0.001106 0.01103 1.475 0.6181 0.0155 -0.2083 0.3328 0.07129 0.02873 0.1829 -0.2676 0.05465 0.3892 0.008468 0.07708 1.21 0.2023 0.6614 0.0102"/>
+    <key name="parallel extension" qpos="0.02402 0.2099 -0.006586 1.39 0.3971 0.004978 -0.006607 1.497 0.2583 0.005741 0.1438 1.536 -0.01001 0.01772 0.07822 0.02017 1.404 -0.004606 0.02382 0.1293 1.21 0.1619 0.4329 0.1276"/>
+    <key name="grasp sphere" qpos="0.002807 -0.7097 -0.352 0.8337 1.32 0.1101 -0.07213 0.829 1.309 0.02985 -0.1276 0.986 1.101 0.05124 0.1683 -0.3401 0.7487 1.176 0.0307 -0.0657 1.213 0.1983 0.6407 0.4141"/>
+    <key name="pre grasp" qpos="-0.03896 -0.5694 -0.3497 0.1074 0.1424 -0.008296 -0.05406 -0.07509 0.4658 0.01033 -0.1062 0.2738 0.001251 0.02586 0.1551 -0.3593 0.1445 -0.00691 -0.001588 -0.1413 0.8383 0.199 0.4945 0.1291"/>
+    <key name="grasp soft" qpos="-0.01386 -0.5706 -0.3126 1.013 0.5084 0.002212 -0.139 0.6854 0.9554 0.01895 0.1659 1.13 0.04252 0.02969 0.3183 -0.2968 0.8024 0.8261 0.01958 -0.04934 0.92 0.1932 0.5457 0.1011"/>
+    <key name="grasp hard" qpos="-0.06713 -0.5377 -0.3099 1.128 0.5067 0.001659 -0.1352 0.8652 0.93 0.01263 0.1724 1.165 0.2726 0.034 0.3116 -0.354 0.9553 0.7928 0.01958 0.05755 1.182 0.1947 0.5578 0.2482"/>
+  </keyframe>
+</mujoco>