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roboverse_data_wuji

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33

fix(tianji_wuji+meshy): sync render fixes from roboverse_data PR #34

#3
by Everloom - opened
base: refs/heads/main
←
from: refs/pr/3
Discussion Files changed
+6
-16
Files changed (4) hide show
  1. assets/local_meshy_cup_bottle/meshybottle/usd/configuration/meshybottle_base.usd +2 -2
  2. assets/local_meshy_cup_bottle/meshycup/usd/configuration/meshycup_base.usd +2 -2
  3. robots/tianji_wuji/tianji_wuji.usd +2 -2
  4. robots/tianji_wuji/tianji_wuji.xml +0 -10
assets/local_meshy_cup_bottle/meshybottle/usd/configuration/meshybottle_base.usd CHANGED
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assets/local_meshy_cup_bottle/meshycup/usd/configuration/meshycup_base.usd CHANGED
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robots/tianji_wuji/tianji_wuji.usd CHANGED
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robots/tianji_wuji/tianji_wuji.xml CHANGED
@@ -243,7 +243,6 @@
243
  <joint name="left_hand_finger1_joint1" pos="0 -0 0" axis="-0 1 -0" range="0.0475 1.6033" actuatorfrcrange="-0.4452 0.4452" armature="0.0005"/>
244
  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger1_link1"/>
245
  <geom name="left_hand_finger1_link1_collision" type="mesh" mesh="left_hand_finger1_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
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- <geom type="capsule" size="0.00615198 0.00362986" pos="0 -0 0.00827912" rgba="0.7 0.7 0.7 1" contype="0" conaffinity="0"/>
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  <body name="left_hand_finger1_link2" pos="-0.0047549 0.00601914 0.0141321" quat="0.616957 0.0855876 -0.29085 -0.726254">
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  <inertial pos="-0.00136057 8.49029e-05 0.0150056" quat="0.922053 -0.00470413 0.0434721 -0.384585" mass="0.0333532" diaginertia="4.2114e-06 4.06368e-06 2.19943e-06"/>
249
  <joint name="left_hand_finger1_joint2" pos="0 -0 0" axis="0 -1 0" range="-0.1387 0.9324" actuatorfrcrange="-0.4259 0.4259" armature="0.0005"/>
@@ -272,7 +271,6 @@
272
  <joint name="left_hand_finger2_joint1" pos="0 -0 0" axis="-0 1 -0" range="-0.1585 1.5604" actuatorfrcrange="-0.6188 0.6188" armature="0.0005"/>
273
  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger2_link1"/>
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  <body name="left_hand_finger2_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
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  <inertial pos="1.85614e-06 -0.00370979 0.0184837" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
278
  <joint name="left_hand_finger2_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1822 0.1822"/>
@@ -299,7 +297,6 @@
299
  <joint name="left_hand_finger3_joint1" pos="0 -0 0" axis="-0 1 -0" range="-0.1644 1.5516" actuatorfrcrange="-0.6494 0.6494" armature="0.0005"/>
300
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305
  <joint name="left_hand_finger3_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1827 0.1827"/>
@@ -326,7 +323,6 @@
326
  <joint name="left_hand_finger4_joint1" pos="0 -0 0" axis="-0 1 -0" range="-0.1554 1.5585" actuatorfrcrange="-0.6389 0.6389" armature="0.0005"/>
327
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328
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330
  <body name="left_hand_finger4_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
331
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332
  <joint name="left_hand_finger4_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1832 0.1832"/>
@@ -353,7 +349,6 @@
353
  <joint name="left_hand_finger5_joint1" pos="0 -0 0" axis="-0 1 -0" range="-0.1626 1.5585" actuatorfrcrange="-0.6441 0.6441" armature="0.0005"/>
354
  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger5_link1"/>
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  <geom name="left_hand_finger5_link1_collision" type="mesh" mesh="left_hand_finger5_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
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  <body name="left_hand_finger5_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
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  <inertial pos="1.84966e-06 -0.0037023 0.0193362" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
359
  <joint name="left_hand_finger5_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1798 0.1798"/>
@@ -464,7 +459,6 @@
464
  <joint name="right_hand_finger1_joint1" pos="0 0 0" axis="0 1 0" range="0.0475 1.6033" actuatorfrcrange="-0.4452 0.4452" armature="0.0005"/>
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  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger1_link1"/>
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  <geom name="right_hand_finger1_link1_collision" type="mesh" mesh="right_hand_finger1_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
467
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  <body name="right_hand_finger1_link2" pos="-0.0047549 -0.0060191 0.014132" quat="0.726252 0.290851 -0.0855912 -0.616958">
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470
  <joint name="right_hand_finger1_joint2" pos="0 0 0" axis="0 1 0" range="-0.1387 0.9324" actuatorfrcrange="-0.4259 0.4259" armature="0.0005"/>
@@ -493,7 +487,6 @@
493
  <joint name="right_hand_finger2_joint1" pos="0 0 0" axis="0 1 0" range="-0.1585 1.5604" actuatorfrcrange="-0.6188 0.6188" armature="0.0005"/>
494
  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger2_link1"/>
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  <geom name="right_hand_finger2_link1_collision" type="mesh" mesh="right_hand_finger2_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
496
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  <body name="right_hand_finger2_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
498
  <inertial pos="1.85614e-06 0.00370979 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
499
  <joint name="right_hand_finger2_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1822 0.1822"/>
@@ -520,7 +513,6 @@
520
  <joint name="right_hand_finger3_joint1" pos="0 0 0" axis="0 1 0" range="-0.1644 1.5516" actuatorfrcrange="-0.6494 0.6494" armature="0.0005"/>
521
  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger3_link1"/>
522
  <geom name="right_hand_finger3_link1_collision" type="mesh" mesh="right_hand_finger3_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
523
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524
  <body name="right_hand_finger3_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
525
  <inertial pos="1.86459e-06 0.0037098 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
526
  <joint name="right_hand_finger3_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1827 0.1827"/>
@@ -547,7 +539,6 @@
547
  <joint name="right_hand_finger4_joint1" pos="0 0 0" axis="0 1 0" range="-0.1554 1.5585" actuatorfrcrange="-0.6389 0.6389" armature="0.0005"/>
548
  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger4_link1"/>
549
  <geom name="right_hand_finger4_link1_collision" type="mesh" mesh="right_hand_finger4_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
550
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  <body name="right_hand_finger4_link2" pos="0.0022 0 0.00400001" quat="0.707107 -0.000213851 -0.000213851 0.707107">
552
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553
  <joint name="right_hand_finger4_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1832 0.1832"/>
@@ -574,7 +565,6 @@
574
  <joint name="right_hand_finger5_joint1" pos="0 0 0" axis="0 1 0" range="-0.1626 1.5585" actuatorfrcrange="-0.6441 0.6441" armature="0.0005"/>
575
  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger5_link1"/>
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  <geom name="right_hand_finger5_link1_collision" type="mesh" mesh="right_hand_finger5_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
577
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578
  <body name="right_hand_finger5_link2" pos="0.0022 0 0.00400001" quat="0.707107 -0.00026748 -0.00026748 0.707107">
579
  <inertial pos="1.84966e-06 0.0037023 0.0193362" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
580
  <joint name="right_hand_finger5_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1798 0.1798"/>
 
243
  <joint name="left_hand_finger1_joint1" pos="0 -0 0" axis="-0 1 -0" range="0.0475 1.6033" actuatorfrcrange="-0.4452 0.4452" armature="0.0005"/>
244
  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger1_link1"/>
245
  <geom name="left_hand_finger1_link1_collision" type="mesh" mesh="left_hand_finger1_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
 
246
  <body name="left_hand_finger1_link2" pos="-0.0047549 0.00601914 0.0141321" quat="0.616957 0.0855876 -0.29085 -0.726254">
247
  <inertial pos="-0.00136057 8.49029e-05 0.0150056" quat="0.922053 -0.00470413 0.0434721 -0.384585" mass="0.0333532" diaginertia="4.2114e-06 4.06368e-06 2.19943e-06"/>
248
  <joint name="left_hand_finger1_joint2" pos="0 -0 0" axis="0 -1 0" range="-0.1387 0.9324" actuatorfrcrange="-0.4259 0.4259" armature="0.0005"/>
 
271
  <joint name="left_hand_finger2_joint1" pos="0 -0 0" axis="-0 1 -0" range="-0.1585 1.5604" actuatorfrcrange="-0.6188 0.6188" armature="0.0005"/>
272
  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger2_link1"/>
273
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274
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275
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276
  <joint name="left_hand_finger2_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1822 0.1822"/>
 
297
  <joint name="left_hand_finger3_joint1" pos="0 -0 0" axis="-0 1 -0" range="-0.1644 1.5516" actuatorfrcrange="-0.6494 0.6494" armature="0.0005"/>
298
  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger3_link1"/>
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300
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301
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  <joint name="left_hand_finger3_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1827 0.1827"/>
 
323
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324
  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger4_link1"/>
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326
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327
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328
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349
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350
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352
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353
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354
  <joint name="left_hand_finger5_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1798 0.1798"/>
 
459
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460
  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger1_link1"/>
461
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462
  <body name="right_hand_finger1_link2" pos="-0.0047549 -0.0060191 0.014132" quat="0.726252 0.290851 -0.0855912 -0.616958">
463
  <inertial pos="-0.00136057 -8.49029e-05 0.0150056" quat="0.922053 0.00470413 0.0434721 0.384585" mass="0.0333532" diaginertia="4.2114e-06 4.06368e-06 2.19943e-06"/>
464
  <joint name="right_hand_finger1_joint2" pos="0 0 0" axis="0 1 0" range="-0.1387 0.9324" actuatorfrcrange="-0.4259 0.4259" armature="0.0005"/>
 
487
  <joint name="right_hand_finger2_joint1" pos="0 0 0" axis="0 1 0" range="-0.1585 1.5604" actuatorfrcrange="-0.6188 0.6188" armature="0.0005"/>
488
  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger2_link1"/>
489
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490
  <body name="right_hand_finger2_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
491
  <inertial pos="1.85614e-06 0.00370979 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
492
  <joint name="right_hand_finger2_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1822 0.1822"/>
 
513
  <joint name="right_hand_finger3_joint1" pos="0 0 0" axis="0 1 0" range="-0.1644 1.5516" actuatorfrcrange="-0.6494 0.6494" armature="0.0005"/>
514
  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger3_link1"/>
515
  <geom name="right_hand_finger3_link1_collision" type="mesh" mesh="right_hand_finger3_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
 
516
  <body name="right_hand_finger3_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
517
  <inertial pos="1.86459e-06 0.0037098 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
518
  <joint name="right_hand_finger3_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1827 0.1827"/>
 
539
  <joint name="right_hand_finger4_joint1" pos="0 0 0" axis="0 1 0" range="-0.1554 1.5585" actuatorfrcrange="-0.6389 0.6389" armature="0.0005"/>
540
  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger4_link1"/>
541
  <geom name="right_hand_finger4_link1_collision" type="mesh" mesh="right_hand_finger4_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
 
542
  <body name="right_hand_finger4_link2" pos="0.0022 0 0.00400001" quat="0.707107 -0.000213851 -0.000213851 0.707107">
543
  <inertial pos="1.84945e-06 0.00370375 0.0185161" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
544
  <joint name="right_hand_finger4_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1832 0.1832"/>
 
565
  <joint name="right_hand_finger5_joint1" pos="0 0 0" axis="0 1 0" range="-0.1626 1.5585" actuatorfrcrange="-0.6441 0.6441" armature="0.0005"/>
566
  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger5_link1"/>
567
  <geom name="right_hand_finger5_link1_collision" type="mesh" mesh="right_hand_finger5_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
 
568
  <body name="right_hand_finger5_link2" pos="0.0022 0 0.00400001" quat="0.707107 -0.00026748 -0.00026748 0.707107">
569
  <inertial pos="1.84966e-06 0.0037023 0.0193362" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
570
  <joint name="right_hand_finger5_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1798 0.1798"/>