Commit History
7 days ago
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Validate mimic references on fixed and movable joints
Verified signature6812315 -
Add standalone BrainCo hands and reduced-joint G1/H1-2 variants (part 6)
Verified signatureAdd five USD variants and 126 verified source/license files pinned to XR teleoperation and RL Gym revisions. Explicitly preserve zero center-of-mass offsets across generated assets. Validate all 79 variants against 2,562 body poses, 2,520 link inertia tensors, 1,802 joint axes and 1,758 joint limits. Document unimplemented closed-loop constraints and unverified PhysX mimic coupling without claiming runtime validation.c5a524d -
Expand Unitree coverage with 74 validated USD variants, H2 Plus and pinned sources (part 8)
Verified signaturePreserve all 40 original asset/configuration files; add source licenses, provenance, catalog, normalized URDF inputs and reproducible conversion scripts. Check all 74 converted stages for geometry/physics references, active joint and mass preservation, and 2,389 independent body poses. Simulator runtime testing remains outstanding and is documented.b823090