Delete dexhand021_left

dexhand021_left/cfgs/__init__.py

@@ -1 +0,0 @@
-"""Robot configuration files."""

dexhand021_left/cfgs/dexhand021_left_base_cfg.py

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-from __future__ import annotations
-
-from pathlib import Path
-from typing import Literal
-
-from metasim.scenario.robot import BaseActuatorCfg, RobotCfg
-from metasim.utils import configclass
-
-
-@configclass
-class Dexhand021LeftBaseCfg(RobotCfg):
-    """Base configuration for Dexhand021Left robot.
-
-    This is a base configuration class that should be inherited by specific variants.
-    Auto-generated from URDF - customize actuator parameters and joint configurations as needed.
-    """
-
-    # Path resolution (resolved from config file location)
-    _cfg_dir = Path(__file__).parent
-
-    name: str = "dexhand021_left"
-    fix_base_link: bool = False  # Dexterous hands typically have free base
-
-    # Model variant selection
-    model_variant: Literal["original", "collision_convex", "full_convex"] = "collision_convex"
-    """
-    Select which model version to use for simulation:
-    - "original": Original mesh models (highest visual quality, slowest simulation)
-    - "collision_convex": Convex hull for collision, original for visual (balanced)
-    - "full_convex": Convex hull for all meshes (fastest simulation, lower visual quality)
-    """
-
-    def __post_init__(self):
-        super().__post_init__()
-
-        # Compute paths based on model_variant
-        base_name = "dexhand021_left"
-
-        if self.model_variant == "original":
-            self.urdf_path = str(self._cfg_dir / f"../urdf/{base_name}.urdf")
-            self.usd_path = str(self._cfg_dir / f"../usd/{base_name}.usd")
-            self.mjcf_path = str(self._cfg_dir / f"../mjcf/{base_name}.xml")
-        elif self.model_variant == "collision_convex":
-            self.urdf_path = str(self._cfg_dir / f"../urdf/{base_name}_collision.urdf")
-            self.usd_path = str(self._cfg_dir / f"../usd/{base_name}_collision.usd")
-            self.mjcf_path = str(self._cfg_dir / f"../mjcf/{base_name}_collision.xml")
-        elif self.model_variant == "full_convex":
-            self.urdf_path = str(self._cfg_dir / f"../urdf/{base_name}_full_convex.urdf")
-            self.usd_path = str(self._cfg_dir / f"../usd/{base_name}_full_convex.usd")
-            self.mjcf_path = str(self._cfg_dir / f"../mjcf/{base_name}_full_convex.xml")
-        else:
-            raise ValueError(f"Invalid model_variant: {self.model_variant}")
-
-    # Physical properties
-    enabled_gravity: bool = True
-
-    # ==================== Actuator Configuration ====================
-    actuators: dict[str, BaseActuatorCfg] = {
-        "ARTx": BaseActuatorCfg(stiffness=100.0, damping=0.0, torque_limit=1000.0, velocity_limit=10.0),  # Default stiffness
-        "ARTy": BaseActuatorCfg(stiffness=100.0, damping=0.0, torque_limit=1000.0, velocity_limit=10.0),  # Default stiffness
-        "ARTz": BaseActuatorCfg(stiffness=100.0, damping=0.0, torque_limit=1000.0, velocity_limit=10.0),  # Default stiffness
-        "ARRx": BaseActuatorCfg(stiffness=100.0, damping=0.0, torque_limit=1000.0, velocity_limit=10.0),  # Default stiffness
-        "ARRy": BaseActuatorCfg(stiffness=100.0, damping=0.0, torque_limit=1000.0, velocity_limit=10.0),  # Default stiffness
-        "ARRz": BaseActuatorCfg(stiffness=100.0, damping=0.0, torque_limit=1000.0, velocity_limit=10.0),  # Default stiffness
-        "l_f_joint1_1": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5),
-        "l_f_joint1_2": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5),
-        "l_f_joint1_3": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5),
-        "l_f_joint1_4": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5),
-        "l_f_joint2_1": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5),
-        "l_f_joint2_2": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5),
-        "l_f_joint2_3": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5),
-        "l_f_joint2_4": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5),
-        "l_f_joint3_1": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5),
-        "l_f_joint3_2": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5),
-        "l_f_joint3_3": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5),
-        "l_f_joint3_4": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5),
-        "l_f_joint4_1": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5),
-        "l_f_joint4_2": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5),
-        "l_f_joint4_3": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5),
-        "l_f_joint4_4": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5),
-        "l_f_joint5_1": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5),
-        "l_f_joint5_2": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5),
-        "l_f_joint5_3": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5),
-        "l_f_joint5_4": BaseActuatorCfg(stiffness=100.0, damping=0.3, torque_limit=10.0, velocity_limit=1.5),
-    }
-
-    # ==================== Joint Limits ====================
-    joint_limits: dict[str, tuple[float, float]] = {
-        "ARTx": (-10.0, 10.0),
-        "ARTy": (-10.0, 10.0),
-        "ARTz": (-10.0, 10.0),
-        "ARRx": (-3.14159, 3.14159),
-        "ARRy": (-3.14159, 3.14159),
-        "ARRz": (-3.14159, 3.14159),
-        "l_f_joint1_1": (0.0, 2.2),
-        "l_f_joint1_2": (0.0, 1.3),
-        "l_f_joint1_3": (0.0, 1.3),
-        "l_f_joint1_4": (0.0, 1.3),
-        "l_f_joint2_1": (0.0, 0.6),
-        "l_f_joint2_2": (0.0, 1.3),
-        "l_f_joint2_3": (0.0, 1.3),
-        "l_f_joint2_4": (0.0, 1.3),
-        "l_f_joint3_1": (-0.001, 0.001),
-        "l_f_joint3_2": (0.0, 1.3),
-        "l_f_joint3_3": (0.0, 1.3),
-        "l_f_joint3_4": (0.0, 1.3),
-        "l_f_joint4_1": (0.0, 0.6),
-        "l_f_joint4_2": (0.0, 1.3),
-        "l_f_joint4_3": (0.0, 1.3),
-        "l_f_joint4_4": (0.0, 1.3),
-        "l_f_joint5_1": (0.0, 0.6),
-        "l_f_joint5_2": (0.0, 1.3),
-        "l_f_joint5_3": (0.0, 1.3),
-        "l_f_joint5_4": (0.0, 1.3),
-    }
-
-    # ==================== Control Types ====================
-    control_type: dict[str, Literal["position", "effort"]] = {
-        "ARTx": "position",  # Default control type
-        "ARTy": "position",  # Default control type
-        "ARTz": "position",  # Default control type
-        "ARRx": "position",  # Default control type
-        "ARRy": "position",  # Default control type
-        "ARRz": "position",  # Default control type
-        "l_f_joint1_1": "position",  # Default control type
-        "l_f_joint1_2": "position",  # Default control type
-        "l_f_joint1_3": "position",  # Default control type
-        "l_f_joint1_4": "position",  # Default control type
-        "l_f_joint2_1": "position",  # Default control type
-        "l_f_joint2_2": "position",  # Default control type
-        "l_f_joint2_3": "position",  # Default control type
-        "l_f_joint2_4": "position",  # Default control type
-        "l_f_joint3_1": "position",  # Default control type
-        "l_f_joint3_2": "position",  # Default control type
-        "l_f_joint3_3": "position",  # Default control type
-        "l_f_joint3_4": "position",  # Default control type
-        "l_f_joint4_1": "position",  # Default control type
-        "l_f_joint4_2": "position",  # Default control type
-        "l_f_joint4_3": "position",  # Default control type
-        "l_f_joint4_4": "position",  # Default control type
-        "l_f_joint5_1": "position",  # Default control type
-        "l_f_joint5_2": "position",  # Default control type
-        "l_f_joint5_3": "position",  # Default control type
-        "l_f_joint5_4": "position",  # Default control type
-    }
-
-    # ==================== Default Joint Positions ====================
-    default_joint_positions: dict[str, float] = {
-        "ARTx": 0.0,  # Default position
-        "ARTy": 0.0,  # Default position
-        "ARTz": 0.0,  # Default position
-        "ARRx": 0.0,  # Default position
-        "ARRy": 0.0,  # Default position
-        "ARRz": 0.0,  # Default position
-        "l_f_joint1_1": 0.0,  # Default position
-        "l_f_joint1_2": 0.0,  # Default position
-        "l_f_joint1_3": 0.0,  # Default position
-        "l_f_joint1_4": 0.0,  # Default position
-        "l_f_joint2_1": 0.0,  # Default position
-        "l_f_joint2_2": 0.0,  # Default position
-        "l_f_joint2_3": 0.0,  # Default position
-        "l_f_joint2_4": 0.0,  # Default position
-        "l_f_joint3_1": 0.0,  # Default position
-        "l_f_joint3_2": 0.0,  # Default position
-        "l_f_joint3_3": 0.0,  # Default position
-        "l_f_joint3_4": 0.0,  # Default position
-        "l_f_joint4_1": 0.0,  # Default position
-        "l_f_joint4_2": 0.0,  # Default position
-        "l_f_joint4_3": 0.0,  # Default position
-        "l_f_joint4_4": 0.0,  # Default position
-        "l_f_joint5_1": 0.0,  # Default position
-        "l_f_joint5_2": 0.0,  # Default position
-        "l_f_joint5_3": 0.0,  # Default position
-        "l_f_joint5_4": 0.0,  # Default position
-    }

dexhand021_left/cfgs/dexhand021_left_cfg.py

@@ -1,15 +0,0 @@
-from __future__ import annotations
-
-from dexhand021_left_base_cfg import Dexhand021LeftBaseCfg
-from metasim.utils import configclass
-
-
-@configclass
-class Dexhand021LeftCfg(Dexhand021LeftBaseCfg):
-    """Configuration for DexHand021 Left Hand - Simplified version.
-
-    Inherits from Dexhand021LeftBaseCfg.
-    Auto-generated configuration file.
-    """
-
-    # Override or extend base configuration here if needed

dexhand021_left/meshes/dexhand021_simplified/l_f_link1_1.STL

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