Modifications to URDF
The initial dae meshes found in
the shadow hand repository
were identical or very similar for the f_knuckle. As a result, we retained only one of these. The same process was
applied to meshes of other parts, with duplicates being removed to enhance the clarity of the file structure.
For the distal finger, we have only kept the pst version, which does not include the biotac sensor.
In addition, we have increased the inertia for all fingertip links to resolve the position drive problem in SAPIEN and IsaacGym.
Almost all meshes have been modified to improve visual quality and collision management.