Retain all source collision meshes and shapes; exclude adjacent pairs and permanently overlapping Robotiq palm/proximal pairs. Keep original sources and licenses. Geometry and kinematics unchanged.
Restore source collision geometry for Barrett, Robotiq 3-Finger and Shadow
Original URDF collisions and Menagerie forearm collider restored. Visuals and existing joint frames preserved. Full source licenses and provenance retained; all other model assets unchanged.
Clarify canonical runtime dynamics scope and placeholder inertias
One canonical description per hand; original source files and licenses retained. Existing canonical assets unchanged. Remove the retired baseline-source documentation placeholder.
Pin baseline distribution documentation links to a permanent source revision
The scoped Apache notice does not establish terms for all inherited ShadowRobot meshes. Retain provenance and local preparation guidance; existing canonical assets and licenses are unchanged. Earlier revisions retain the initial upload.
Clarify inherited license scope and record license-file hashes
The Apache grant in the unchanged inherited notice identifies Vikash Kumar code, not all referenced ShadowRobot model material. Original source files, runtime geometry and kinematics are byte-identical to the initial publication.
Publish original DexGraspNet Shadow source assets with upstream licenses
BrainCo: fix mesh paths, state equalities as joint1 = poly(joint2), and make fingertips rigid. Inspire: add visual geoms (contype=0, conaffinity=0) next to the collision geoms.
State the upstream license and provenance for G1 and BrainCo assets
Official PSYONIC Ability Hand MJCF (large, left and right) from psyonicinc/ability-hand-api@34c9a93, MIT license. Finger pip joints coupled by MuJoCo joint equalities.
Add LEAP Hand v1 assets (MuJoCo Menagerie leap_hand, MIT)
