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Multi-GraspSet

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Barrett

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Files changed (34) hide show
  1. README.md +1 -0
  2. hand_model/barrett_hand_description/Barrett.urdf +297 -0
  3. hand_model/barrett_hand_description/meshes/barrettmount.iv +525 -0
  4. hand_model/barrett_hand_description/meshes/barrettmount.stl +0 -0
  5. hand_model/barrett_hand_description/meshes/barrettmount.txt +3 -0
  6. hand_model/barrett_hand_description/meshes/barrettmount.wrl +340 -0
  7. hand_model/barrett_hand_description/meshes/barrettmount.xml +6 -0
  8. hand_model/barrett_hand_description/meshes/link1.iv +218 -0
  9. hand_model/barrett_hand_description/meshes/link1.stl +0 -0
  10. hand_model/barrett_hand_description/meshes/link1.txt +3 -0
  11. hand_model/barrett_hand_description/meshes/link1.wrl +152 -0
  12. hand_model/barrett_hand_description/meshes/link1.xml +8 -0
  13. hand_model/barrett_hand_description/meshes/link2.iv +255 -0
  14. hand_model/barrett_hand_description/meshes/link2.stl +0 -0
  15. hand_model/barrett_hand_description/meshes/link2.txt +3 -0
  16. hand_model/barrett_hand_description/meshes/link2.wrl +177 -0
  17. hand_model/barrett_hand_description/meshes/link2.xml +8 -0
  18. hand_model/barrett_hand_description/meshes/link3.iv +204 -0
  19. hand_model/barrett_hand_description/meshes/link3.stl +0 -0
  20. hand_model/barrett_hand_description/meshes/link3.txt +3 -0
  21. hand_model/barrett_hand_description/meshes/link3.wrl +152 -0
  22. hand_model/barrett_hand_description/meshes/link3.xml +8 -0
  23. hand_model/barrett_hand_description/meshes/palm.iv +862 -0
  24. hand_model/barrett_hand_description/meshes/palm.stl +0 -0
  25. hand_model/barrett_hand_description/meshes/palm.txt +3 -0
  26. hand_model/barrett_hand_description/meshes/palm.wrl +507 -0
  27. hand_model/barrett_hand_description/meshes/palm.xml +8 -0
  28. hand_model/barrett_hand_description/test_barrett.urdf +297 -0
  29. mid-level-data/barrett.pkl +3 -0
  30. utils/__pycache__/hand_model.cpython-39.pyc +0 -0
  31. utils/__pycache__/utils_math.cpython-39.pyc +0 -0
  32. utils/hand_model.py +27 -27
  33. utils/utils_math.py +6 -6
  34. vis_mid_dataset.ipynb +0 -0
README.md CHANGED
@@ -41,6 +41,7 @@ We introduce **Multi-GraspSet**, the first large-scale multi-hand grasp dataset
41
 
42
 
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  ## Updates
 
44
  - **2024.12**: Released the Multi-GraspSet dataset with meshes of objects.
45
  - **2024.12**: Released the Multi-GraspSet dataset with contact annotations.
46
 
 
41
 
42
 
43
  ## Updates
44
+ - **2024.12**: We add the Barrett hand data.
45
  - **2024.12**: Released the Multi-GraspSet dataset with meshes of objects.
46
  - **2024.12**: Released the Multi-GraspSet dataset with contact annotations.
47
 
hand_model/barrett_hand_description/Barrett.urdf ADDED
@@ -0,0 +1,297 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ <?xml version='1.0' ?>
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+ <robot name="Barrett">
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+ <link name="base_link"/>
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+ <joint name="base_link_palm" type="fixed">
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+ <origin rpy="0 0.00000000 0.00000000"/>
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+ <parent link="base_link"/>
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+ <child link="palm"/>
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+ </joint>
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+ <link name="palm">
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+ <visual>
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+ <geometry>
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+ <mesh filename="./meshes/palm.stl" scale="0.00100000 0.00100000 0.00100000"/>
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+ </geometry>
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+ </visual>
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+ <inertial>
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+ <mass value="1.00000000"/>
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+ <inertia ixx="4.9826e-07" ixy="-2.6086e-11" ixz="-3.5314e-11" iyy="4.2775e-07" iyz="5.4730e-08" izz="4.2955e-07"/>
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+ <origin xyz="0.00000267 -0.00384810 -0.04619306"/>
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+ </inertial>
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+ </link>
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+
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+
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+ <link name="a_link1">
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+ <visual>
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+ <geometry>
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+ <mesh filename="./meshes/link1.stl" scale="0.00100000 0.00100000 0.00100000"/>
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+ </geometry>
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+ </visual>
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+ <inertial>
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+ <mass value="0.20000000"/>
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+ <inertia ixx="1.0839e-08" ixy="-5.8433e-09" ixz="-2.6510e-12" iyy="2.8604e-08" iyz="-2.8865e-13" izz="3.3596e-08"/>
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+ <origin xyz="-0.01770848 -0.01532542 -0.00000084"/>
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+ </inertial>
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+ </link>
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+ <link name="a_link2">
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+ <visual>
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+ <geometry>
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+ <mesh filename="./meshes/link2.stl" scale="0.00100000 0.00100000 0.00100000"/>
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+ </geometry>
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+ </visual>
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+ <inertial>
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+ <mass value="0.10000000"/>
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+ <inertia ixx="1.0839e-08" ixy="-5.8433e-09" ixz="-2.6510e-12" iyy="2.8604e-08" iyz="-2.8865e-13" izz="3.3596e-08"/>
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+ <origin xyz="-0.01770848 -0.01532542 -0.00000084"/>
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+ </inertial>
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+ </link>
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+ <link name="a_link3">
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+ <visual>
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+ <geometry>
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+ <mesh filename="./meshes/link3.stl" scale="0.00100000 0.00100000 0.00100000"/>
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+ </geometry>
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+ </visual>
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+ <inertial>
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+ <mass value="0.10000000"/>
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+ <inertia ixx="1.5808e-09" ixy="-3.7926e-10" ixz="1.6162e-12" iyy="7.9936e-09" iyz="-1.4246e-11" izz="7.4485e-09"/>
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+ <origin xyz="-0.02984130 0.00230978 0.00002310"/>
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+ </inertial>
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+ </link>
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+ <link name="a_link1_joint"/>
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+ <joint name="a_palm_link1_joint" type="revolute">
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+ <origin rpy="0.00000000 3.14159265 0.00000000" xyz="0.02500000 0.00000000 -0.00100000"/>
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+ <parent link="palm"/>
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+ <child link="a_link1_joint"/>
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+ <axis xyz="0.00000000 0.00000000 1.00000000"/>
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+ <limit effort="50.00000000" lower="0.0" upper="3.14159265359" velocity="0.52333333"/>
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+ </joint>
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+ <link name="a_link1_dh"/>
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+ <joint name="a_link1_joint_link1_dh" type="fixed">
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+ <origin rpy="0.00000000 0.00000000 1.57079633"/>
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+ <parent link="a_link1_joint"/>
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+ <child link="a_link1_dh"/>
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+ </joint>
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+ <joint name="a_link1_dh_link1" type="fixed">
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+ <origin rpy="-1.57079633 0.00000000 0.00000000" xyz="0.05000000 0.00000000 0.00000000"/>
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+ <parent link="a_link1_dh"/>
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+ <child link="a_link1"/>
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+ </joint>
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+ <link name="a_link2_joint"/>
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+ <joint name="a_link1_link2_joint" type="revolute">
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+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.00000000 0.00000000 0.00000000"/>
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+ <parent link="a_link1"/>
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+ <child link="a_link2_joint"/>
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+ <axis xyz="0.00000000 0.00000000 1.00000000"/>
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+ <limit effort="2.50000000" lower="0.0" upper="2.51327412287" velocity="0.52333333"/>
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+ </joint>
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+ <link name="a_link2_dh"/>
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+ <joint name="a_link2_joint_link2_dh" type="fixed">
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+ <origin rpy="0.00000000 0.00000000 0.08726646"/>
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+ <parent link="a_link2_joint"/>
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+ <child link="a_link2_dh"/>
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+ </joint>
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+ <joint name="a_link2_dh_link2" type="fixed">
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+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.07000000 0.00000000 0.00000000"/>
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+ <parent link="a_link2_dh"/>
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+ <child link="a_link2"/>
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+ </joint>
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+ <link name="a_link3_joint"/>
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+ <joint name="a_link2_link3_joint" type="revolute">
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+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.00000000 0.00000000 0.00000000"/>
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+ <parent link="a_link2"/>
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+ <child link="a_link3_joint"/>
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+ <axis xyz="0.00000000 0.00000000 0.33333333"/>
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+ <limit effort="2.50000000" lower="0.0" upper="2.51327412287" velocity="0.52333333"/>
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+ </joint>
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+ <link name="a_link3_dh"/>
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+ <joint name="a_link3_joint_link3_dh" type="fixed">
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+ <origin rpy="0.00000000 0.00000000 0.69813170"/>
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+ <parent link="a_link3_joint"/>
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+ <child link="a_link3_dh"/>
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+ </joint>
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+ <joint name="a_link3_dh_link3" type="fixed">
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+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.05500000 0.00000000 0.00000000"/>
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+ <parent link="a_link3_dh"/>
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+ <child link="a_link3"/>
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+ </joint>
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+
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+
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+
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+ <link name="b_link1">
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+ <visual>
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+ <geometry>
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+ <mesh filename="./meshes/link1.stl" scale="0.00100000 0.00100000 0.00100000"/>
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+ </geometry>
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+ </visual>
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+ <inertial>
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+ <mass value="0.20000000"/>
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+ <inertia ixx="1.0839e-08" ixy="-5.8433e-09" ixz="-2.6510e-12" iyy="2.8604e-08" iyz="-2.8865e-13" izz="3.3596e-08"/>
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+ <origin xyz="-0.01770848 -0.01532542 -0.00000084"/>
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+ </inertial>
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+ </link>
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+ <link name="b_link2">
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+ <visual>
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+ <geometry>
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+ <mesh filename="./meshes/link2.stl" scale="0.00100000 0.00100000 0.00100000"/>
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+ </geometry>
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+ </visual>
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+ <inertial>
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+ <mass value="0.10000000"/>
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+ <inertia ixx="1.0839e-08" ixy="-5.8433e-09" ixz="-2.6510e-12" iyy="2.8604e-08" iyz="-2.8865e-13" izz="3.3596e-08"/>
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+ <origin xyz="-0.01770848 -0.01532542 -0.00000084"/>
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+ </inertial>
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+ </link>
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+ <link name="b_link3">
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+ <visual>
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+ <geometry>
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+ <mesh filename="./meshes/link3.stl" scale="0.00100000 0.00100000 0.00100000"/>
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+ </geometry>
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+ </visual>
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+ <inertial>
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+ <mass value="0.10000000"/>
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+ <inertia ixx="1.5808e-09" ixy="-3.7926e-10" ixz="1.6162e-12" iyy="7.9936e-09" iyz="-1.4246e-11" izz="7.4485e-09"/>
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+ <origin xyz="-0.02984130 0.00230978 0.00002310"/>
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+ </inertial>
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+ </link>
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+ <link name="b_link1_joint"/>
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+ <joint name="b_palm_link1_joint" type="revolute">
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+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="-0.02500000 0.00000000 -0.00100000"/>
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+ <parent link="palm"/>
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+ <child link="b_link1_joint"/>
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+ <axis xyz="0.00000000 0.00000000 1.00000000"/>
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+ <limit effort="50.00000000" lower="0.0" upper="3.14159265359" velocity="0.52333333"/>
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+ </joint>
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+ <link name="b_link1_dh"/>
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+ <joint name="b_link1_joint_link1_dh" type="fixed">
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+ <origin rpy="0.00000000 0.00000000 1.57079633"/>
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+ <parent link="b_link1_joint"/>
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+ <child link="b_link1_dh"/>
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+ </joint>
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+ <joint name="b_link1_dh_link1" type="fixed">
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+ <origin rpy="1.57079633 0.00000000 0.00000000" xyz="0.05000000 0.00000000 0.00000000"/>
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+ <parent link="b_link1_dh"/>
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+ <child link="b_link1"/>
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+ </joint>
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+ <link name="b_link2_joint"/>
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+ <joint name="b_link1_link2_joint" type="revolute">
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+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.00000000 0.00000000 0.00000000"/>
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+ <parent link="b_link1"/>
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+ <child link="b_link2_joint"/>
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+ <axis xyz="0.00000000 0.00000000 1.00000000"/>
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+ <limit effort="2.50000000" lower="0.0" upper="2.51327412287" velocity="0.52333333"/>
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+ </joint>
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+ <link name="b_link2_dh"/>
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+ <joint name="b_link2_joint_link2_dh" type="fixed">
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+ <origin rpy="0.00000000 0.00000000 0.08726646"/>
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+ <parent link="b_link2_joint"/>
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+ <child link="b_link2_dh"/>
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+ </joint>
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+ <joint name="b_link2_dh_link2" type="fixed">
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+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.07000000 0.00000000 0.00000000"/>
190
+ <parent link="b_link2_dh"/>
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+ <child link="b_link2"/>
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+ </joint>
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+ <link name="b_link3_joint"/>
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+ <joint name="b_link2_link3_joint" type="revolute">
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+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.00000000 0.00000000 0.00000000"/>
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+ <parent link="b_link2"/>
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+ <child link="b_link3_joint"/>
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+ <axis xyz="0.00000000 0.00000000 0.33333333"/>
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+ <limit effort="2.50000000" lower="0.0" upper="2.51327412287" velocity="0.52333333"/>
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+ </joint>
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+ <link name="b_link3_dh"/>
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+ <joint name="b_link3_joint_link3_dh" type="fixed">
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+ <origin rpy="0.00000000 0.00000000 0.69813170"/>
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+ <parent link="b_link3_joint"/>
205
+ <child link="b_link3_dh"/>
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+ </joint>
207
+ <joint name="b_link3_dh_link3" type="fixed">
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+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.05500000 0.00000000 0.00000000"/>
209
+ <parent link="b_link3_dh"/>
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+ <child link="b_link3"/>
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+ </joint>
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+
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+
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+
215
+ <link name="c_link2">
216
+ <visual>
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+ <geometry>
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+ <mesh filename="./meshes/link2.stl" scale="0.00100000 0.00100000 0.00100000"/>
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+ </geometry>
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+ </visual>
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+ <inertial>
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+ <mass value="0.10000000"/>
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+ <inertia ixx="1.0839e-08" ixy="-5.8433e-09" ixz="-2.6510e-12" iyy="2.8604e-08" iyz="-2.8865e-13" izz="3.3596e-08"/>
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+ <origin xyz="-0.01770848 -0.01532542 -0.00000084"/>
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+ </inertial>
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+ </link>
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+
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+ <link name="c_link3">
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+ <visual>
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+ <geometry>
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+ <mesh filename="./meshes/link3.stl" scale="0.00100000 0.00100000 0.00100000"/>
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+ </geometry>
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+ </visual>
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+ <inertial>
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+ <mass value="0.10000000"/>
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+ <inertia ixx="1.5808e-09" ixy="-3.7926e-10" ixz="1.6162e-12" iyy="7.9936e-09" iyz="-1.4246e-11" izz="7.4485e-09"/>
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+ <origin xyz="-0.02984130 0.00230978 0.00002310"/>
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+ </inertial>
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+ </link>
240
+
241
+ <link name="c_link2_joint"/>
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+
243
+ <!-- DUMMY LINK FOR THE CONSECUTIVE Z ROTATION -->
244
+ <link name="c_link2_joint_0"/>
245
+
246
+ <joint name="c_palm_link2_joint_0" type="revolute">
247
+ <origin rpy="0.00000000 -1.57079633 0" xyz="0.00000000 -0.05000000 -0.00100000"/>
248
+ <parent link="palm"/>
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+ <child link="c_link2_joint_0"/>
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+ <axis xyz="0.00000000 0.00000000 1.00000000"/>
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+ <limit effort="5.00000000" lower="0.0" upper="2.51327412287" velocity="0.52333333"/>
252
+ </joint>
253
+
254
+ <!-- DUMMY Fixed joint FOR THE CONSECUTIVE Z ROTATION -->
255
+ <joint name="c_link2_joint_0_link2_joint" type="fixed">
256
+ <origin rpy="0.00000000 0 -1.57079633" xyz="0.00000000 0.00000000 0.0000000"/>
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+ <parent link="c_link2_joint_0"/>
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+ <child link="c_link2_joint"/>
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+ <axis xyz="0.00000000 0.00000000 1.00000000"/>
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+ </joint>
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+
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+ <link name="c_link2_dh"/>
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+ <joint name="c_link2_joint_link2_dh" type="fixed">
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+ <origin rpy="0.00000000 0.00000000 0.08726646"/>
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+ <parent link="c_link2_joint"/>
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+ <child link="c_link2_dh"/>
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+ </joint>
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+
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+ <joint name="c_link2_dh_link2" type="fixed">
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+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.07000000 0.00000000 0.00000000"/>
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+ <parent link="c_link2_dh"/>
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+ <child link="c_link2"/>
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+ </joint>
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+
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+ <link name="c_link3_joint"/>
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+
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+ <joint name="c_link2_link3_joint" type="revolute">
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+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.00000000 0.00000000 0.00000000"/>
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+ <parent link="c_link2"/>
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+ <child link="c_link3_joint"/>
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+ <axis xyz="0.00000000 0.00000000 0.33333333"/>
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+ <limit effort="5.00000000" lower="0.0" upper="2.51327412287" velocity="0.52333333"/>
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+ </joint>
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+ <link name="c_link3_dh"/>
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+
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+ <joint name="c_link3_joint_link3_dh" type="fixed">
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+ <origin rpy="0.00000000 0.00000000 0.69813170"/>
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+ <parent link="c_link3_joint"/>
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+ <child link="c_link3_dh"/>
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+ </joint>
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+ <joint name="c_link3_dh_link3" type="fixed">
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+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.05500000 0.00000000 0.00000000"/>
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+ <parent link="c_link3_dh"/>
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+ <child link="c_link3"/>
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+ </joint>
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+
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+ </robot>
hand_model/barrett_hand_description/meshes/barrettmount.iv ADDED
@@ -0,0 +1,525 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ #Inventor V2.0 ascii
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+ #material plastic
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+ #mass 100
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+
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+ Separator {
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+ Material {
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+ ambientColor 0.047138 0.047138 0.047138
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+ diffuseColor 0 0 0
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+ specularColor 0.151515 0.151515 0.151515
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+ shininess 0.104377
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+ }
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+ Separator {
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+ Translation {
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+ translation 0 0 -116.0
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+ }
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+ ShapeHints {
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+ vertexOrdering COUNTERCLOCKWISE
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+ shapeType SOLID
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+ }
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+ Coordinate3 {
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+ point [
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+ -35.355339 35.355339 9.500000,
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+ -36.087572 33.587572 9.500000,
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+ <root>
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+ <material>plastic</material>
4
+ <mass>1000</mass>
5
+ <cog>0.003360 -3.736 -47.83</cog>
6
+ <inertia_matrix>3540.1 0 0 0 3350.1 -42.614 0 -42.614 1056.9</inertia_matrix>
7
+ <geometryFile>palm.iv</geometryFile>
8
+ </root>
hand_model/barrett_hand_description/test_barrett.urdf ADDED
@@ -0,0 +1,297 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version='1.0' encoding='ASCII'?>
2
+ <robot name="Barrett">
3
+ <link name="base_link"/>
4
+ <joint name="base_link_palm" type="fixed">
5
+ <origin rpy="0 0.00000000 0.00000000"/>
6
+ <parent link="base_link"/>
7
+ <child link="palm"/>
8
+ </joint>
9
+ <link name="palm">
10
+ <visual>
11
+ <geometry>
12
+ <mesh filename="./meshes/palm.stl" scale="0.00100000 0.00100000 0.00100000"/>
13
+ </geometry>
14
+ </visual>
15
+ <inertial>
16
+ <mass value="1.00000000"/>
17
+ <inertia ixx="4.9826e-07" ixy="-2.6086e-11" ixz="-3.5314e-11" iyy="4.2775e-07" iyz="5.4730e-08" izz="4.2955e-07"/>
18
+ <origin xyz="0.00000267 -0.00384810 -0.04619306"/>
19
+ </inertial>
20
+ </link>
21
+
22
+
23
+ <link name="a_link1">
24
+ <visual>
25
+ <geometry>
26
+ <mesh filename="./meshes/link1.stl" scale="0.00100000 0.00100000 0.00100000"/>
27
+ </geometry>
28
+ </visual>
29
+ <inertial>
30
+ <mass value="0.20000000"/>
31
+ <inertia ixx="1.0839e-08" ixy="-5.8433e-09" ixz="-2.6510e-12" iyy="2.8604e-08" iyz="-2.8865e-13" izz="3.3596e-08"/>
32
+ <origin xyz="-0.01770848 -0.01532542 -0.00000084"/>
33
+ </inertial>
34
+ </link>
35
+ <link name="a_link2">
36
+ <visual>
37
+ <geometry>
38
+ <mesh filename="./meshes/link2.stl" scale="0.00100000 0.00100000 0.00100000"/>
39
+ </geometry>
40
+ </visual>
41
+ <inertial>
42
+ <mass value="0.10000000"/>
43
+ <inertia ixx="1.0839e-08" ixy="-5.8433e-09" ixz="-2.6510e-12" iyy="2.8604e-08" iyz="-2.8865e-13" izz="3.3596e-08"/>
44
+ <origin xyz="-0.01770848 -0.01532542 -0.00000084"/>
45
+ </inertial>
46
+ </link>
47
+ <link name="a_link3">
48
+ <visual>
49
+ <geometry>
50
+ <mesh filename="./meshes/link3.stl" scale="0.00100000 0.00100000 0.00100000"/>
51
+ </geometry>
52
+ </visual>
53
+ <inertial>
54
+ <mass value="0.10000000"/>
55
+ <inertia ixx="1.5808e-09" ixy="-3.7926e-10" ixz="1.6162e-12" iyy="7.9936e-09" iyz="-1.4246e-11" izz="7.4485e-09"/>
56
+ <origin xyz="-0.02984130 0.00230978 0.00002310"/>
57
+ </inertial>
58
+ </link>
59
+ <link name="a_link1_joint"/>
60
+ <joint name="a_palm_link1_joint" type="revolute">
61
+ <origin rpy="0.00000000 3.14159265 0.00000000" xyz="0.02500000 0.00000000 -0.00100000"/>
62
+ <parent link="palm"/>
63
+ <child link="a_link1_joint"/>
64
+ <axis xyz="0.00000000 0.00000000 1.00000000"/>
65
+ <limit effort="50.00000000" lower="0.0" upper="3.14159265359" velocity="0.52333333"/>
66
+ </joint>
67
+ <link name="a_link1_dh"/>
68
+ <joint name="a_link1_joint_link1_dh" type="fixed">
69
+ <origin rpy="0.00000000 0.00000000 1.57079633"/>
70
+ <parent link="a_link1_joint"/>
71
+ <child link="a_link1_dh"/>
72
+ </joint>
73
+ <joint name="a_link1_dh_link1" type="fixed">
74
+ <origin rpy="-1.57079633 0.00000000 0.00000000" xyz="0.05000000 0.00000000 0.00000000"/>
75
+ <parent link="a_link1_dh"/>
76
+ <child link="a_link1"/>
77
+ </joint>
78
+ <link name="a_link2_joint"/>
79
+ <joint name="a_link1_link2_joint" type="revolute">
80
+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.00000000 0.00000000 0.00000000"/>
81
+ <parent link="a_link1"/>
82
+ <child link="a_link2_joint"/>
83
+ <axis xyz="0.00000000 0.00000000 1.00000000"/>
84
+ <limit effort="2.50000000" lower="0.0" upper="2.51327412287" velocity="0.52333333"/>
85
+ </joint>
86
+ <link name="a_link2_dh"/>
87
+ <joint name="a_link2_joint_link2_dh" type="fixed">
88
+ <origin rpy="0.00000000 0.00000000 0.08726646"/>
89
+ <parent link="a_link2_joint"/>
90
+ <child link="a_link2_dh"/>
91
+ </joint>
92
+ <joint name="a_link2_dh_link2" type="fixed">
93
+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.07000000 0.00000000 0.00000000"/>
94
+ <parent link="a_link2_dh"/>
95
+ <child link="a_link2"/>
96
+ </joint>
97
+ <link name="a_link3_joint"/>
98
+ <joint name="a_link2_link3_joint" type="revolute">
99
+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.00000000 0.00000000 0.00000000"/>
100
+ <parent link="a_link2"/>
101
+ <child link="a_link3_joint"/>
102
+ <axis xyz="0.00000000 0.00000000 0.33333333"/>
103
+ <limit effort="2.50000000" lower="0.0" upper="2.51327412287" velocity="0.52333333"/>
104
+ </joint>
105
+ <link name="a_link3_dh"/>
106
+ <joint name="a_link3_joint_link3_dh" type="fixed">
107
+ <origin rpy="0.00000000 0.00000000 0.69813170"/>
108
+ <parent link="a_link3_joint"/>
109
+ <child link="a_link3_dh"/>
110
+ </joint>
111
+ <joint name="a_link3_dh_link3" type="fixed">
112
+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.05500000 0.00000000 0.00000000"/>
113
+ <parent link="a_link3_dh"/>
114
+ <child link="a_link3"/>
115
+ </joint>
116
+
117
+
118
+
119
+ <link name="b_link1">
120
+ <visual>
121
+ <geometry>
122
+ <mesh filename="./meshes/link1.stl" scale="0.00100000 0.00100000 0.00100000"/>
123
+ </geometry>
124
+ </visual>
125
+ <inertial>
126
+ <mass value="0.20000000"/>
127
+ <inertia ixx="1.0839e-08" ixy="-5.8433e-09" ixz="-2.6510e-12" iyy="2.8604e-08" iyz="-2.8865e-13" izz="3.3596e-08"/>
128
+ <origin xyz="-0.01770848 -0.01532542 -0.00000084"/>
129
+ </inertial>
130
+ </link>
131
+ <link name="b_link2">
132
+ <visual>
133
+ <geometry>
134
+ <mesh filename="./meshes/link2.stl" scale="0.00100000 0.00100000 0.00100000"/>
135
+ </geometry>
136
+ </visual>
137
+ <inertial>
138
+ <mass value="0.10000000"/>
139
+ <inertia ixx="1.0839e-08" ixy="-5.8433e-09" ixz="-2.6510e-12" iyy="2.8604e-08" iyz="-2.8865e-13" izz="3.3596e-08"/>
140
+ <origin xyz="-0.01770848 -0.01532542 -0.00000084"/>
141
+ </inertial>
142
+ </link>
143
+ <link name="b_link3">
144
+ <visual>
145
+ <geometry>
146
+ <mesh filename="./meshes/link3.stl" scale="0.00100000 0.00100000 0.00100000"/>
147
+ </geometry>
148
+ </visual>
149
+ <inertial>
150
+ <mass value="0.10000000"/>
151
+ <inertia ixx="1.5808e-09" ixy="-3.7926e-10" ixz="1.6162e-12" iyy="7.9936e-09" iyz="-1.4246e-11" izz="7.4485e-09"/>
152
+ <origin xyz="-0.02984130 0.00230978 0.00002310"/>
153
+ </inertial>
154
+ </link>
155
+ <link name="b_link1_joint"/>
156
+ <joint name="b_palm_link1_joint" type="revolute">
157
+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="-0.02500000 0.00000000 -0.00100000"/>
158
+ <parent link="palm"/>
159
+ <child link="b_link1_joint"/>
160
+ <axis xyz="0.00000000 0.00000000 1.00000000"/>
161
+ <limit effort="50.00000000" lower="0.0" upper="3.14159265359" velocity="0.52333333"/>
162
+ </joint>
163
+ <link name="b_link1_dh"/>
164
+ <joint name="b_link1_joint_link1_dh" type="fixed">
165
+ <origin rpy="0.00000000 0.00000000 1.57079633"/>
166
+ <parent link="b_link1_joint"/>
167
+ <child link="b_link1_dh"/>
168
+ </joint>
169
+ <joint name="b_link1_dh_link1" type="fixed">
170
+ <origin rpy="1.57079633 0.00000000 0.00000000" xyz="0.05000000 0.00000000 0.00000000"/>
171
+ <parent link="b_link1_dh"/>
172
+ <child link="b_link1"/>
173
+ </joint>
174
+ <link name="b_link2_joint"/>
175
+ <joint name="b_link1_link2_joint" type="revolute">
176
+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.00000000 0.00000000 0.00000000"/>
177
+ <parent link="b_link1"/>
178
+ <child link="b_link2_joint"/>
179
+ <axis xyz="0.00000000 0.00000000 1.00000000"/>
180
+ <limit effort="2.50000000" lower="0.0" upper="2.51327412287" velocity="0.52333333"/>
181
+ </joint>
182
+ <link name="b_link2_dh"/>
183
+ <joint name="b_link2_joint_link2_dh" type="fixed">
184
+ <origin rpy="0.00000000 0.00000000 0.08726646"/>
185
+ <parent link="b_link2_joint"/>
186
+ <child link="b_link2_dh"/>
187
+ </joint>
188
+ <joint name="b_link2_dh_link2" type="fixed">
189
+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.07000000 0.00000000 0.00000000"/>
190
+ <parent link="b_link2_dh"/>
191
+ <child link="b_link2"/>
192
+ </joint>
193
+ <link name="b_link3_joint"/>
194
+ <joint name="b_link2_link3_joint" type="revolute">
195
+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.00000000 0.00000000 0.00000000"/>
196
+ <parent link="b_link2"/>
197
+ <child link="b_link3_joint"/>
198
+ <axis xyz="0.00000000 0.00000000 0.33333333"/>
199
+ <limit effort="2.50000000" lower="0.0" upper="2.51327412287" velocity="0.52333333"/>
200
+ </joint>
201
+ <link name="b_link3_dh"/>
202
+ <joint name="b_link3_joint_link3_dh" type="fixed">
203
+ <origin rpy="0.00000000 0.00000000 0.69813170"/>
204
+ <parent link="b_link3_joint"/>
205
+ <child link="b_link3_dh"/>
206
+ </joint>
207
+ <joint name="b_link3_dh_link3" type="fixed">
208
+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.05500000 0.00000000 0.00000000"/>
209
+ <parent link="b_link3_dh"/>
210
+ <child link="b_link3"/>
211
+ </joint>
212
+
213
+
214
+
215
+ <link name="c_link2">
216
+ <visual>
217
+ <geometry>
218
+ <mesh filename="./meshes/link2.stl" scale="0.00100000 0.00100000 0.00100000"/>
219
+ </geometry>
220
+ </visual>
221
+ <inertial>
222
+ <mass value="0.10000000"/>
223
+ <inertia ixx="1.0839e-08" ixy="-5.8433e-09" ixz="-2.6510e-12" iyy="2.8604e-08" iyz="-2.8865e-13" izz="3.3596e-08"/>
224
+ <origin xyz="-0.01770848 -0.01532542 -0.00000084"/>
225
+ </inertial>
226
+ </link>
227
+
228
+ <link name="c_link3">
229
+ <visual>
230
+ <geometry>
231
+ <mesh filename="./meshes/link3.stl" scale="0.00100000 0.00100000 0.00100000"/>
232
+ </geometry>
233
+ </visual>
234
+ <inertial>
235
+ <mass value="0.10000000"/>
236
+ <inertia ixx="1.5808e-09" ixy="-3.7926e-10" ixz="1.6162e-12" iyy="7.9936e-09" iyz="-1.4246e-11" izz="7.4485e-09"/>
237
+ <origin xyz="-0.02984130 0.00230978 0.00002310"/>
238
+ </inertial>
239
+ </link>
240
+
241
+ <link name="c_link2_joint"/>
242
+
243
+ <!-- DUMMY LINK FOR THE CONSECUTIVE Z ROTATION -->
244
+ <link name="c_link2_joint_0"/>
245
+
246
+ <joint name="c_palm_link2_joint_0" type="revolute">
247
+ <origin rpy="0.00000000 -1.57079633 0" xyz="0.00000000 -0.05000000 -0.00100000"/>
248
+ <parent link="palm"/>
249
+ <child link="c_link2_joint_0"/>
250
+ <axis xyz="0.00000000 0.00000000 1.00000000"/>
251
+ <limit effort="5.00000000" lower="0.0" upper="2.51327412287" velocity="0.52333333"/>
252
+ </joint>
253
+
254
+ <!-- DUMMY Fixed joint FOR THE CONSECUTIVE Z ROTATION -->
255
+ <joint name="c_link2_joint_0_link2_joint" type="fixed">
256
+ <origin rpy="0.00000000 0 -1.57079633" xyz="0.00000000 0.00000000 0.0000000"/>
257
+ <parent link="c_link2_joint_0"/>
258
+ <child link="c_link2_joint"/>
259
+ <axis xyz="0.00000000 0.00000000 1.00000000"/>
260
+ </joint>
261
+
262
+ <link name="c_link2_dh"/>
263
+ <joint name="c_link2_joint_link2_dh" type="fixed">
264
+ <origin rpy="0.00000000 0.00000000 0.08726646"/>
265
+ <parent link="c_link2_joint"/>
266
+ <child link="c_link2_dh"/>
267
+ </joint>
268
+
269
+ <joint name="c_link2_dh_link2" type="fixed">
270
+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.07000000 0.00000000 0.00000000"/>
271
+ <parent link="c_link2_dh"/>
272
+ <child link="c_link2"/>
273
+ </joint>
274
+
275
+ <link name="c_link3_joint"/>
276
+
277
+ <joint name="c_link2_link3_joint" type="revolute">
278
+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.00000000 0.00000000 0.00000000"/>
279
+ <parent link="c_link2"/>
280
+ <child link="c_link3_joint"/>
281
+ <axis xyz="0.00000000 0.00000000 0.33333333"/>
282
+ <limit effort="5.00000000" lower="0.0" upper="2.51327412287" velocity="0.52333333"/>
283
+ </joint>
284
+ <link name="c_link3_dh"/>
285
+
286
+ <joint name="c_link3_joint_link3_dh" type="fixed">
287
+ <origin rpy="0.00000000 0.00000000 0.69813170"/>
288
+ <parent link="c_link3_joint"/>
289
+ <child link="c_link3_dh"/>
290
+ </joint>
291
+ <joint name="c_link3_dh_link3" type="fixed">
292
+ <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.05500000 0.00000000 0.00000000"/>
293
+ <parent link="c_link3_dh"/>
294
+ <child link="c_link3"/>
295
+ </joint>
296
+
297
+ </robot>
mid-level-data/barrett.pkl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7fbeba33eddf24a3dd242dbe11fa4b291765c8573b890718e70b1c1e67432ffa
3
+ size 32446376
utils/__pycache__/hand_model.cpython-39.pyc CHANGED
Binary files a/utils/__pycache__/hand_model.cpython-39.pyc and b/utils/__pycache__/hand_model.cpython-39.pyc differ
 
utils/__pycache__/utils_math.cpython-39.pyc CHANGED
Binary files a/utils/__pycache__/utils_math.cpython-39.pyc and b/utils/__pycache__/utils_math.cpython-39.pyc differ
 
utils/hand_model.py CHANGED
@@ -42,7 +42,7 @@ class HandModel:
42
  self.global_rotation = None
43
  self.softmax = torch.nn.Softmax(dim=-1)
44
  # prepare contact point basis and surface point samples
45
- self.contact_point_dict = json.load(open(os.path.join("./hand_model", 'contact_%s.json' % robot_name)))
46
  self.contact_point_basis = {}
47
  self.contact_normals = {}
48
  self.surface_points = {}
@@ -150,33 +150,33 @@ class HandModel:
150
  # point and normal of palm center
151
 
152
  # contact point
153
- if link.name in self.contact_point_dict:
154
- # if link.name != 'index_1': continue
155
- # new 1.11
156
- cpb = np.array(self.contact_point_dict[link.name])
157
- # print("cpb shape: ", cpb.shape, len(cpb.shape))
158
- if len(cpb.shape) > 1:
159
- cpb = cpb[np.random.randint(cpb.shape[0], size=1)][0]
160
- # print(link.name, cpb)
161
- # go.Figure(data = [
162
- # go.Mesh3d(x=mesh.vertices[:,0], y=mesh.vertices[:,1], z=mesh.vertices[:,2], i=mesh.faces[:,0], j=mesh.faces[:,1], k=mesh.faces[:,2]),
163
- # go.Scatter3d(x=mesh.vertices[cpb,0], y=mesh.vertices[cpb, 1], z=mesh.vertices[cpb,2])]).show()
164
- # input()
165
 
166
- cp_basis = mesh.vertices[cpb] * scale
167
- # print(cpb, "cp_basis: ", cp_basis)
168
- if robot_name == 'shadowhand':
169
- cp_basis = cp_basis[:, [0, 2, 1]]
170
- cp_basis[:, 1] *= -1
171
- cp_basis = np.matmul(rotation, cp_basis.T).T + translation
172
- cp_basis = torch.cat([torch.from_numpy(cp_basis).to(device).float(), torch.ones([4, 1]).to(device).float()], dim=-1)
173
- self.contact_point_basis[link.name] = cp_basis.unsqueeze( 0).repeat(batch_size, 1, 1)
174
- v1 = cp_basis[1, :3] - cp_basis[0, :3]
175
- v2 = cp_basis[2, :3] - cp_basis[0, :3]
176
- v1 = v1 / torch.norm(v1)
177
- v2 = v2 / torch.norm(v2)
178
- self.contact_normals[link.name] = torch.cross(v1, v2).view([1, 3])
179
- self.contact_normals[link.name] = self.contact_normals[link.name].unsqueeze(0).repeat(batch_size, 1, 1)
180
 
181
 
182
  self.revolute_joints = []
 
42
  self.global_rotation = None
43
  self.softmax = torch.nn.Softmax(dim=-1)
44
  # prepare contact point basis and surface point samples
45
+ #self.contact_point_dict = json.load(open(os.path.join("./hand_model", 'contact_%s.json' % robot_name)))
46
  self.contact_point_basis = {}
47
  self.contact_normals = {}
48
  self.surface_points = {}
 
150
  # point and normal of palm center
151
 
152
  # contact point
153
+ # if link.name in self.contact_point_dict:
154
+ # # if link.name != 'index_1': continue
155
+ # # new 1.11
156
+ # cpb = np.array(self.contact_point_dict[link.name])
157
+ # # print("cpb shape: ", cpb.shape, len(cpb.shape))
158
+ # if len(cpb.shape) > 1:
159
+ # cpb = cpb[np.random.randint(cpb.shape[0], size=1)][0]
160
+ # # print(link.name, cpb)
161
+ # # go.Figure(data = [
162
+ # # go.Mesh3d(x=mesh.vertices[:,0], y=mesh.vertices[:,1], z=mesh.vertices[:,2], i=mesh.faces[:,0], j=mesh.faces[:,1], k=mesh.faces[:,2]),
163
+ # # go.Scatter3d(x=mesh.vertices[cpb,0], y=mesh.vertices[cpb, 1], z=mesh.vertices[cpb,2])]).show()
164
+ # # input()
165
 
166
+ # cp_basis = mesh.vertices[cpb] * scale
167
+ # # print(cpb, "cp_basis: ", cp_basis)
168
+ # if robot_name == 'shadowhand':
169
+ # cp_basis = cp_basis[:, [0, 2, 1]]
170
+ # cp_basis[:, 1] *= -1
171
+ # cp_basis = np.matmul(rotation, cp_basis.T).T + translation
172
+ # cp_basis = torch.cat([torch.from_numpy(cp_basis).to(device).float(), torch.ones([4, 1]).to(device).float()], dim=-1)
173
+ # self.contact_point_basis[link.name] = cp_basis.unsqueeze( 0).repeat(batch_size, 1, 1)
174
+ # v1 = cp_basis[1, :3] - cp_basis[0, :3]
175
+ # v2 = cp_basis[2, :3] - cp_basis[0, :3]
176
+ # v1 = v1 / torch.norm(v1)
177
+ # v2 = v2 / torch.norm(v2)
178
+ # self.contact_normals[link.name] = torch.cross(v1, v2).view([1, 3])
179
+ # self.contact_normals[link.name] = self.contact_normals[link.name].unsqueeze(0).repeat(batch_size, 1, 1)
180
 
181
 
182
  self.revolute_joints = []
utils/utils_math.py CHANGED
@@ -6,7 +6,7 @@ Author: Aiden Li
6
  LastEditors: Aiden Li (i@aidenli.net)
7
  '''
8
  import numpy as np
9
- import open3d as o3d
10
  import torch
11
  import torch.nn.functional as F
12
 
@@ -203,11 +203,11 @@ def meshgrid_points(range, ticks, device='cuda', requires_grad=True):
203
  ii, jj, kk = torch.meshgrid([xx, yy, zz])
204
  return torch.concat([ii.unsqueeze(-1), jj.unsqueeze(-1), kk.unsqueeze(-1)], dim=-1).reshape([-1, 3])
205
 
206
- def mesh_from_points(points, radii=[0.005, 0.01, 0.02, 0.04]):
207
- pcd = o3d.geometry.PointCloud()
208
- pcd.points = o3d.utility.Vector3dVector(points[0])
209
- pcd = pcd.voxel_down_sample(voxel_size=0.5)
210
- pcd.estimate_normals()
211
 
212
  def mesh_to_pts(mesh, padding=False):
213
  if padding:
 
6
  LastEditors: Aiden Li (i@aidenli.net)
7
  '''
8
  import numpy as np
9
+ # import open3d as o3d
10
  import torch
11
  import torch.nn.functional as F
12
 
 
203
  ii, jj, kk = torch.meshgrid([xx, yy, zz])
204
  return torch.concat([ii.unsqueeze(-1), jj.unsqueeze(-1), kk.unsqueeze(-1)], dim=-1).reshape([-1, 3])
205
 
206
+ # def mesh_from_points(points, radii=[0.005, 0.01, 0.02, 0.04]):
207
+ # pcd = o3d.geometry.PointCloud()
208
+ # pcd.points = o3d.utility.Vector3dVector(points[0])
209
+ # pcd = pcd.voxel_down_sample(voxel_size=0.5)
210
+ # pcd.estimate_normals()
211
 
212
  def mesh_to_pts(mesh, padding=False):
213
  if padding:
vis_mid_dataset.ipynb CHANGED
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