Add files using upload-large-folder tool

assets/data/HumanModels/selected_dataset_stl/s0006/combined_wrapwrap.urdf

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+<?xml version="1.0"?>
+<robot name="base_link_robot">
+    <material name="custom_color">
+        <color rgba="0.5098039215686274 0.3686274509803922 0.3607843137254902 1"/>
+    </material>
+    <link name="base_link">
+        <visual>
+            <geometry>
+                <mesh filename="combined_wrapwrap.stl" scale="1 1 1"/>
+            </geometry>
+            <material name="custom_color"/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="combined_wrapwrap.stl" scale="1 1 1"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="60.0"/>
+            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+        </inertial>
+    </link>
+</robot>

assets/data/HumanModels/selected_dataset_stl/s0006/s0006.urdf

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+<?xml version="1.0"?>
+<robot name="base_link_robot">
+    <link name="base_link">
+        <visual>
+            <geometry>
+                <mesh filename="combined_wrapwrap.stl" scale="1 1 1"/>
+            </geometry>
+            <material name="custom_color">
+                <color rgba="0.7 0.5 0.2 0.7"/>
+            </material>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="combined_wrapwrap.stl" scale="1 1 1"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="1.0"/>
+            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+        </inertial>
+    </link>
+</robot>

assets/data/HumanModels/selected_dataset_stl/s0010/combined_wrapwrap.urdf

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+<?xml version="1.0"?>
+<robot name="base_link_robot">
+    <material name="custom_color">
+        <color rgba="0.5098039215686274 0.3686274509803922 0.3607843137254902 1"/>
+    </material>
+    <link name="base_link">
+        <visual>
+            <geometry>
+                <mesh filename="combined_wrapwrap.stl" scale="1 1 1"/>
+            </geometry>
+            <material name="custom_color"/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="combined_wrapwrap.stl" scale="1 1 1"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="60.0"/>
+            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+        </inertial>
+    </link>
+</robot>

assets/data/HumanModels/selected_dataset_stl/s0010/s0010.urdf

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+<?xml version="1.0"?>
+<robot name="base_link_robot">
+    <link name="base_link">
+        <visual>
+            <geometry>
+                <mesh filename="combined_wrapwrap.stl" scale="1 1 1"/>
+            </geometry>
+            <material name="custom_color">
+                <color rgba="0.7 0.5 0.2 0.7"/>
+            </material>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="combined_wrapwrap.stl" scale="1 1 1"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="1.0"/>
+            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+        </inertial>
+    </link>
+</robot>

assets/data/HumanModels/selected_dataset_stl/s0014/combined_wrapwrap.urdf

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+<?xml version="1.0"?>
+<robot name="base_link_robot">
+    <material name="custom_color">
+        <color rgba="0.5098039215686274 0.3686274509803922 0.3607843137254902 1"/>
+    </material>
+    <link name="base_link">
+        <visual>
+            <geometry>
+                <mesh filename="combined_wrapwrap.stl" scale="1 1 1"/>
+            </geometry>
+            <material name="custom_color"/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="combined_wrapwrap.stl" scale="1 1 1"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="60.0"/>
+            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+        </inertial>
+    </link>
+</robot>

assets/data/HumanModels/selected_dataset_stl/s0014/s0014.urdf

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+<?xml version="1.0"?>
+<robot name="base_link_robot">
+    <link name="base_link">
+        <visual>
+            <geometry>
+                <mesh filename="combined_wrapwrap.stl" scale="1 1 1"/>
+            </geometry>
+            <material name="custom_color">
+                <color rgba="0.7 0.5 0.2 0.7"/>
+            </material>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="combined_wrapwrap.stl" scale="1 1 1"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="1.0"/>
+            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+        </inertial>
+    </link>
+</robot>

assets/data/HumanModels/selected_dataset_stl/s0030/combined_wrapwrap.urdf

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+<?xml version="1.0"?>
+<robot name="base_link_robot">
+    <material name="custom_color">
+        <color rgba="0.5098039215686274 0.3686274509803922 0.3607843137254902 1"/>
+    </material>
+    <link name="base_link">
+        <visual>
+            <geometry>
+                <mesh filename="combined_wrapwrap.stl" scale="1 1 1"/>
+            </geometry>
+            <material name="custom_color"/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="combined_wrapwrap.stl" scale="1 1 1"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="60.0"/>
+            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+        </inertial>
+    </link>
+</robot>

assets/data/HumanModels/selected_dataset_stl/s0038/combined_wrapwrap.urdf

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+<?xml version="1.0"?>
+<robot name="base_link_robot">
+    <material name="custom_color">
+        <color rgba="0.5098039215686274 0.3686274509803922 0.3607843137254902 1"/>
+    </material>
+    <link name="base_link">
+        <visual>
+            <geometry>
+                <mesh filename="combined_wrapwrap.stl" scale="1 1 1"/>
+            </geometry>
+            <material name="custom_color"/>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="combined_wrapwrap.stl" scale="1 1 1"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="60.0"/>
+            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
+        </inertial>
+    </link>
+</robot>

assets/fr3_US.py

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+# Copyright (c) 2022-2023, The ORBIT Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Configuration for the Franka Emika robots.
+
+The following configurations are available:
+
+* :obj:`FRANKA_PANDA_CFG`: Franka Emika Panda robot with Panda hand
+* :obj:`FRANKA_PANDA_HIGH_PD_CFG`: Franka Emika Panda robot with Panda hand with stiffer PD control
+
+Reference: https://github.com/frankaemika/franka_ros
+"""
+
+import isaaclab.sim as sim_utils
+from isaaclab.actuators import ImplicitActuatorCfg
+from isaaclab.assets import ArticulationCfg
+from spinal_surgery import ASSETS_DATA_DIR
+
+##
+# Configuration
+##
+
+FR3_US_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ASSETS_DATA_DIR}/Robots/Franka/fr3_US.usd",  # transparent
+        activate_contact_sensors=False,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            max_depenetration_velocity=5.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=True, solver_position_iteration_count=8, solver_velocity_iteration_count=0
+        ),
+        # collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.005, rest_offset=0.0),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        joint_pos={
+            "fr3_joint1": 0.0,
+            "fr3_joint2": 0.0,
+            "fr3_joint3": 0.0,
+            "fr3_joint4": -1.2,
+            "fr3_joint5": 0.0,
+            "fr3_joint6": 1.5,
+            "fr3_joint7": 0.0,
+        },
+    ),
+    actuators={
+        "fr3_shoulder": ImplicitActuatorCfg(
+            joint_names_expr=["fr3_joint[1-5]"],
+            effort_limit=87.0,
+            velocity_limit=2.175,
+            stiffness=80.0,
+            damping=4.0,
+        ),
+        "fr3_forearm": ImplicitActuatorCfg(
+            joint_names_expr=["fr3_joint[6-7]"],
+            effort_limit=12.0,
+            velocity_limit=2.61,
+            stiffness=80.0,
+            damping=4.0,
+        ),
+    },
+    soft_joint_pos_limit_factor=1.0,
+)
+"""Configuration of Franka Emika Panda robot."""
+
+
+FR3_HIGH_PD_US_CFG = FR3_US_CFG.copy()
+FR3_HIGH_PD_US_CFG.spawn.rigid_props.disable_gravity = True
+FR3_HIGH_PD_US_CFG.actuators["fr3_shoulder"].stiffness = 400.0
+FR3_HIGH_PD_US_CFG.actuators["fr3_shoulder"].damping = 80.0
+FR3_HIGH_PD_US_CFG.actuators["fr3_forearm"].stiffness = 400.0
+FR3_HIGH_PD_US_CFG.actuators["fr3_forearm"].damping = 80.0
+"""Configuration of fr3 robot with stiffer PD control.
+
+This configuration is useful for task-space control using differential IK.
+"""

assets/kuka_US.py

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+# Copyright (c) 2022-2023, The ORBIT Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Configuration for the Franka Emika robots.
+
+The following configurations are available:
+
+* :obj:`FRANKA_PANDA_CFG`: Franka Emika Panda robot with Panda hand
+* :obj:`FRANKA_PANDA_HIGH_PD_CFG`: Franka Emika Panda robot with Panda hand with stiffer PD control
+
+Reference: https://github.com/frankaemika/franka_ros
+"""
+
+import isaaclab.sim as sim_utils
+from isaaclab.actuators import ImplicitActuatorCfg
+from isaaclab.assets import ArticulationCfg
+from spinal_surgery import ASSETS_DATA_DIR
+
+##
+# Configuration
+##
+
+KUKA_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ASSETS_DATA_DIR}/Robots/Kuka/med14/kuka_US.usd", # transparent
+        activate_contact_sensors=False,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            max_depenetration_velocity=5.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=True, solver_position_iteration_count=8, solver_velocity_iteration_count=0
+        ),
+        # collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.005, rest_offset=0.0),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        joint_pos={
+            "lbr_joint_0": 0.0,
+            "lbr_joint_1": 0.0,
+            "lbr_joint_2": 0.0,
+            "lbr_joint_3": -1.2,
+            "lbr_joint_4": 0.0,
+            "lbr_joint_5": 1.5,
+            "lbr_joint_6": 0.0,
+        },
+    ),
+    actuators={
+        "kuka_shoulder": ImplicitActuatorCfg(
+            joint_names_expr=["lbr_joint_[0-4]"],
+            effort_limit=87.0,
+            velocity_limit=2.175,
+            stiffness=80.0,
+            damping=4.0,
+        ),
+        "kuka_forearm": ImplicitActuatorCfg(
+            joint_names_expr=["lbr_joint_[5-6]"],
+            effort_limit=12.0,
+            velocity_limit=2.61,
+            stiffness=80.0,
+            damping=4.0,
+        ),
+    },
+    soft_joint_pos_limit_factor=1.0,
+)
+"""Configuration of Franka Emika Panda robot."""
+
+
+KUKA_HIGH_PD_CFG = KUKA_CFG.copy()
+KUKA_HIGH_PD_CFG.spawn.rigid_props.disable_gravity = True
+KUKA_HIGH_PD_CFG.actuators["kuka_shoulder"].stiffness = 400.0
+KUKA_HIGH_PD_CFG.actuators["kuka_shoulder"].damping = 80.0
+KUKA_HIGH_PD_CFG.actuators["kuka_forearm"].stiffness = 400.0
+KUKA_HIGH_PD_CFG.actuators["kuka_forearm"].damping = 80.0
+"""Configuration of kuka robot with stiffer PD control.
+
+This configuration is useful for task-space control using differential IK.
+"""

assets/kuka_drill.py

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+# Copyright (c) 2022-2023, The ORBIT Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Configuration for the Franka Emika robots.
+
+The following configurations are available:
+
+* :obj:`FRANKA_PANDA_CFG`: Franka Emika Panda robot with Panda hand
+* :obj:`FRANKA_PANDA_HIGH_PD_CFG`: Franka Emika Panda robot with Panda hand with stiffer PD control
+
+Reference: https://github.com/frankaemika/franka_ros
+"""
+
+import isaaclab.sim as sim_utils
+from isaaclab.actuators import ImplicitActuatorCfg
+from isaaclab.assets import ArticulationCfg
+from spinal_surgery import ASSETS_DATA_DIR
+
+##
+# Configuration
+##
+
+KUKA_DRILL_CFG = ArticulationCfg(
+    spawn=sim_utils.UsdFileCfg(
+        usd_path=f"{ASSETS_DATA_DIR}/Robots/Kuka/med14/kuka_drill.usd", # transparent
+        activate_contact_sensors=False,
+        rigid_props=sim_utils.RigidBodyPropertiesCfg(
+            disable_gravity=False,
+            max_depenetration_velocity=5.0,
+        ),
+        articulation_props=sim_utils.ArticulationRootPropertiesCfg(
+            enabled_self_collisions=True, solver_position_iteration_count=8, solver_velocity_iteration_count=0
+        ),
+        # collision_props=sim_utils.CollisionPropertiesCfg(contact_offset=0.005, rest_offset=0.0),
+    ),
+    init_state=ArticulationCfg.InitialStateCfg(
+        joint_pos={
+            "lbr_joint_0": 0.0,
+            "lbr_joint_1": 0.0,
+            "lbr_joint_2": 0.0,
+            "lbr_joint_3": -1.2,
+            "lbr_joint_4": 0.0,
+            "lbr_joint_5": 1.5,
+            "lbr_joint_6": 0.0,
+        },
+    ),
+    actuators={
+        "kuka_shoulder": ImplicitActuatorCfg(
+            joint_names_expr=["lbr_joint_[0-4]"],
+            effort_limit=87.0,
+            velocity_limit=2.175,
+            stiffness=80.0,
+            damping=4.0,
+        ),
+        "kuka_forearm": ImplicitActuatorCfg(
+            joint_names_expr=["lbr_joint_[5-6]"],
+            effort_limit=12.0,
+            velocity_limit=2.61,
+            stiffness=80.0,
+            damping=4.0,
+        ),
+    },
+    soft_joint_pos_limit_factor=1.0,
+)
+"""Configuration of Franka Emika Panda robot."""
+
+
+KUKA_HIGH_PD_DRILL_CFG = KUKA_DRILL_CFG.copy()
+KUKA_HIGH_PD_DRILL_CFG.spawn.rigid_props.disable_gravity = True
+KUKA_HIGH_PD_DRILL_CFG.actuators["kuka_shoulder"].stiffness = 400.0
+KUKA_HIGH_PD_DRILL_CFG.actuators["kuka_shoulder"].damping = 80.0
+KUKA_HIGH_PD_DRILL_CFG.actuators["kuka_forearm"].stiffness = 400.0
+KUKA_HIGH_PD_DRILL_CFG.actuators["kuka_forearm"].damping = 80.0
+"""Configuration of kuka robot with stiffer PD control.
+
+This configuration is useful for task-space control using differential IK.
+"""

lerobot-dataset/Isaac-robot-US-guided-surgery-5-models-v0/data/chunk-001/episode_001009.parquet

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+oid sha256:ba9003a39d523c8ea85b227bbcc83286a47a43edfa44e59ca7353b88541f53ac
+size 288155

lerobot-dataset/Isaac-robot-US-guided-surgery-5-models-v0/data/chunk-001/episode_001035.parquet

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+size 832262