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9

Hands

#7
by realyunlong - opened
base: refs/heads/main
←
from: refs/pr/7
Discussion Files changed
+3
-10650
This view is limited to 50 files because it contains too many changes.  See the raw diff here.
Files changed (50) hide show
  1. apple_15/output.xml +1 -2
  2. band.obj +0 -3
  3. band_gripper.urdf +0 -132
  4. ci_assets/cat.jpg +0 -3
  5. ci_assets/duck.jpg +0 -3
  6. ci_assets/eiffel.jpg +0 -3
  7. ci_assets/eiffel.webp +0 -3
  8. ci_assets/lantern.jpg +0 -3
  9. cross.xml +0 -30
  10. cube8.obj +0 -3
  11. grasp_cloth1.csv +0 -0
  12. grid10x10.obj +0 -3
  13. grid20x20.obj +0 -3
  14. grid2x2.obj +0 -3
  15. grid40x40.obj +0 -3
  16. grid80x80.obj +0 -3
  17. unitree_g1/assets/head_link.STL +0 -3
  18. unitree_g1/assets/left_ankle_pitch_link.STL +0 -3
  19. unitree_g1/assets/left_ankle_roll_link.STL +0 -3
  20. unitree_g1/assets/left_elbow_link.STL +0 -3
  21. unitree_g1/assets/left_hand_index_0_link.STL +0 -3
  22. unitree_g1/assets/left_hand_index_1_link.STL +0 -3
  23. unitree_g1/assets/left_hand_middle_0_link.STL +0 -3
  24. unitree_g1/assets/left_hand_middle_1_link.STL +0 -3
  25. unitree_g1/assets/left_hand_palm_link.STL +0 -3
  26. unitree_g1/assets/left_hand_thumb_0_link.STL +0 -3
  27. unitree_g1/assets/left_hand_thumb_1_link.STL +0 -3
  28. unitree_g1/assets/left_hand_thumb_2_link.STL +0 -3
  29. unitree_g1/assets/left_hip_pitch_link.STL +0 -3
  30. unitree_g1/assets/left_hip_roll_link.STL +0 -3
  31. unitree_g1/assets/left_hip_yaw_link.STL +0 -3
  32. unitree_g1/assets/left_knee_link.STL +0 -3
  33. unitree_g1/assets/left_rubber_hand.STL +0 -3
  34. unitree_g1/assets/left_shoulder_pitch_link.STL +0 -3
  35. unitree_g1/assets/left_shoulder_roll_link.STL +0 -3
  36. unitree_g1/assets/left_shoulder_yaw_link.STL +0 -3
  37. unitree_g1/assets/left_wrist_pitch_link.STL +0 -3
  38. unitree_g1/assets/left_wrist_roll_link.STL +0 -3
  39. unitree_g1/assets/left_wrist_roll_rubber_hand.STL +0 -3
  40. unitree_g1/assets/left_wrist_yaw_link.STL +0 -3
  41. unitree_g1/assets/logo_link.STL +0 -3
  42. unitree_g1/assets/pelvis.STL +0 -3
  43. unitree_g1/assets/pelvis_contour_link.STL +0 -3
  44. unitree_g1/assets/right_ankle_pitch_link.STL +0 -3
  45. unitree_g1/assets/right_ankle_roll_link.STL +0 -3
  46. unitree_g1/assets/right_elbow_link.STL +0 -3
  47. unitree_g1/assets/right_hand_index_0_link.STL +0 -3
  48. unitree_g1/assets/right_hand_index_1_link.STL +0 -3
  49. unitree_g1/assets/right_hand_middle_0_link.STL +0 -3
  50. unitree_g1/assets/right_hand_middle_1_link.STL +0 -3
apple_15/output.xml CHANGED
@@ -9,8 +9,7 @@
9
  <body>
10
  <body name="object">
11
  <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="apple_u1_v1" />
12
- <!-- Using a cylinder to approximate the apple mesh -->
13
- <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="cylinder" size="0.03 0.025" group="0" rgba="0.8 0.8 0.8 0.0" /></body>
14
  <site rgba="0 0 0 0" size="0.005" pos="-9.198630000000125e-05 -9.87755999999987e-05 -0.0343740733" name="bottom_site" />
15
  <site rgba="0 0 0 0" size="0.005" pos="-9.198630000000125e-05 -9.87755999999987e-05 0.0348929217" name="top_site" />
16
  <site rgba="0 0 0 0" size="0.005" pos="0.0295444884 0.029559425700000003 0.0002594242000000008" name="horizontal_radius_site" />
 
9
  <body>
10
  <body name="object">
11
  <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="apple_u1_v1" />
12
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_normalized_0_vis" group="0" rgba="0.8 0.8 0.8 0.0" /></body>
 
13
  <site rgba="0 0 0 0" size="0.005" pos="-9.198630000000125e-05 -9.87755999999987e-05 -0.0343740733" name="bottom_site" />
14
  <site rgba="0 0 0 0" size="0.005" pos="-9.198630000000125e-05 -9.87755999999987e-05 0.0348929217" name="top_site" />
15
  <site rgba="0 0 0 0" size="0.005" pos="0.0295444884 0.029559425700000003 0.0002594242000000008" name="horizontal_radius_site" />
band.obj DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
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- oid sha256:49c2b0a6e169d4d453c07b80adc16845be7f7b5ff95469a0cb40759e1edb94d0
3
- size 11698
 
 
 
 
band_gripper.urdf DELETED
@@ -1,132 +0,0 @@
1
- <?xml version="1.0"?>
2
- <robot name="band_gripper">
3
- <!-- Base link (fixed reference point at origin) -->
4
- <link name="base_link">
5
- <visual>
6
- <geometry>
7
- <box size="0.001 0.001 0.001"/>
8
- </geometry>
9
- </visual>
10
- </link>
11
-
12
- <!-- Left Top Gripper -->
13
- <link name="left_top_gripper">
14
- <inertial>
15
- <origin xyz="0 0 0"/>
16
- <mass value="0.2"/>
17
- <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
18
- </inertial>
19
- <visual>
20
- <origin xyz="0 0 0"/>
21
- <geometry>
22
- <box size="0.09 0.09 0.09"/>
23
- </geometry>
24
- <material name="blue">
25
- <color rgba="0.3 0.5 0.8 1.0"/>
26
- </material>
27
- </visual>
28
- <collision>
29
- <origin xyz="0 0 0"/>
30
- <geometry>
31
- <box size="0.09 0.09 0.09"/>
32
- </geometry>
33
- </collision>
34
- </link>
35
-
36
- <joint name="left_top_joint" type="floating">
37
- <parent link="base_link"/>
38
- <child link="left_top_gripper"/>
39
- <origin xyz="0.0 -0.600 0.20" rpy="0 0 0"/>
40
- </joint>
41
-
42
- <!-- Left Bottom Gripper -->
43
- <link name="left_bottom_gripper">
44
- <inertial>
45
- <origin xyz="0 0 0"/>
46
- <mass value="0.2"/>
47
- <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
48
- </inertial>
49
- <visual>
50
- <origin xyz="0 0 0"/>
51
- <geometry>
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- <box size="0.09 0.09 0.09"/>
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- </geometry>
54
- <material name="blue">
55
- <color rgba="0.3 0.5 0.8 1.0"/>
56
- </material>
57
- </visual>
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- <collision>
59
- <origin xyz="0 0 0"/>
60
- <geometry>
61
- <box size="0.09 0.09 0.09"/>
62
- </geometry>
63
- </collision>
64
- </link>
65
-
66
- <joint name="left_bottom_joint" type="floating">
67
- <parent link="base_link"/>
68
- <child link="left_bottom_gripper"/>
69
- <origin xyz="0.0 -0.600 -0.20" rpy="0 0 0"/>
70
- </joint>
71
-
72
- <!-- Right Top Gripper -->
73
- <link name="right_top_gripper">
74
- <inertial>
75
- <origin xyz="0 0 0"/>
76
- <mass value="0.2"/>
77
- <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
78
- </inertial>
79
- <visual>
80
- <origin xyz="0 0 0"/>
81
- <geometry>
82
- <box size="0.09 0.09 0.09"/>
83
- </geometry>
84
- <material name="orange">
85
- <color rgba="0.8 0.5 0.3 1.0"/>
86
- </material>
87
- </visual>
88
- <collision>
89
- <origin xyz="0 0 0"/>
90
- <geometry>
91
- <box size="0.09 0.09 0.09"/>
92
- </geometry>
93
- </collision>
94
- </link>
95
-
96
- <joint name="right_top_joint" type="floating">
97
- <parent link="base_link"/>
98
- <child link="right_top_gripper"/>
99
- <origin xyz="0.0 0.600 0.20" rpy="0 0 0"/>
100
- </joint>
101
-
102
- <!-- Right Bottom Gripper -->
103
- <link name="right_bottom_gripper">
104
- <inertial>
105
- <origin xyz="0 0 0"/>
106
- <mass value="0.2"/>
107
- <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
108
- </inertial>
109
- <visual>
110
- <origin xyz="0 0 0"/>
111
- <geometry>
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- <box size="0.09 0.09 0.09"/>
113
- </geometry>
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- <material name="orange">
115
- <color rgba="0.8 0.5 0.3 1.0"/>
116
- </material>
117
- </visual>
118
- <collision>
119
- <origin xyz="0 0 0"/>
120
- <geometry>
121
- <box size="0.09 0.09 0.09"/>
122
- </geometry>
123
- </collision>
124
- </link>
125
-
126
- <joint name="right_bottom_joint" type="floating">
127
- <parent link="base_link"/>
128
- <child link="right_bottom_gripper"/>
129
- <origin xyz="0.0 0.600 -0.20" rpy="0 0 0"/>
130
- </joint>
131
-
132
- </robot>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
ci_assets/cat.jpg DELETED

Git LFS Details

  • SHA256: e56f27a2342f919749ecb687ab36738a8458c2a4ee7b281eb72f223a18d7aa2b
  • Pointer size: 131 Bytes
  • Size of remote file: 215 kB
ci_assets/duck.jpg DELETED

Git LFS Details

  • SHA256: c0f0c9976bf994e3744049b8de2d04041d420ffeb2d356aafe3b007e7c762d95
  • Pointer size: 132 Bytes
  • Size of remote file: 4.78 MB
ci_assets/eiffel.jpg DELETED

Git LFS Details

  • SHA256: b7f535160d01e579b43388cb16a7d933460fad598404e2c20f76489a70aec483
  • Pointer size: 131 Bytes
  • Size of remote file: 192 kB
ci_assets/eiffel.webp DELETED

Git LFS Details

  • SHA256: 319c1cffac103bccefd96ef91cd63f8510658965114bb378d3d3bf83f84e22c2
  • Pointer size: 131 Bytes
  • Size of remote file: 107 kB
ci_assets/lantern.jpg DELETED

Git LFS Details

  • SHA256: aaa6751853af4690e5555071c917f1860988177121210fa799e989423fe3723e
  • Pointer size: 131 Bytes
  • Size of remote file: 348 kB
cross.xml DELETED
@@ -1,30 +0,0 @@
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- <mujoco model="ant">
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- <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
3
- <default>
4
- <joint type="hinge" armature="0.01" damping="0.0" limited="false"/>
5
- <geom condim="3" friction="1 0.5 0.5" type="capsule" size="0.08" rgba="0.8 0.6 0.4 1"/>
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- </default>
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- <worldbody>
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- <body name="torso">
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- <freejoint/>
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- <geom fromto="-0.2 -0.2 0.0 0.2 0.2 0.0"/>
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- <geom fromto="0.2 -0.2 0.0 -0.2 0.2 0.0"/>
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- <body name="front_left_leg" pos="0.2 0.2 0">
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- <joint name="ankle_1" axis="-1 1 0"/>
14
- <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0"/>
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- </body>
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- <body name="front_right_leg" pos="-0.2 0.2 0">
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- <joint name="ankle_2" axis="1 1 0"/>
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- <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0"/>
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- </body>
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- <body name="back_leg" pos="-0.2 -0.2 0">
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- <joint name="ankle_3" axis="-1 1 0"/>
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- <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0"/>
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- </body>
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- <body name="right_back_leg" pos="0.2 -0.2 0">
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- <joint name="ankle_4" axis="1 1 0"/>
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- <geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0"/>
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- </body>
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- </body>
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- </worldbody>
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- </mujoco>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
cube8.obj DELETED
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grasp_cloth1.csv DELETED
The diff for this file is too large to render. See raw diff
 
grid10x10.obj DELETED
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