push dexhand021_left

.gitattributes

@@ -0,0 +1,25 @@
+dexhand021_left/meshes/dexhand021_simplified/l_f_link1_1.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/meshes/dexhand021_simplified/l_f_link1_2.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/meshes/dexhand021_simplified/l_f_link1_3.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/meshes/dexhand021_simplified/l_f_link1_4.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/meshes/dexhand021_simplified/l_f_link2_1.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/meshes/dexhand021_simplified/l_f_link2_2.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/meshes/dexhand021_simplified/l_f_link2_3.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/meshes/dexhand021_simplified/l_f_link2_4.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/meshes/dexhand021_simplified/l_f_link3_1.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/meshes/dexhand021_simplified/l_f_link3_2.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/meshes/dexhand021_simplified/l_f_link3_3.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/meshes/dexhand021_simplified/l_f_link3_4.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/meshes/dexhand021_simplified/l_f_link4_1.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/meshes/dexhand021_simplified/l_f_link4_2.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/meshes/dexhand021_simplified/l_f_link4_3.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/meshes/dexhand021_simplified/l_f_link4_4.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/meshes/dexhand021_simplified/l_f_link5_1.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/meshes/dexhand021_simplified/l_f_link5_2.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/meshes/dexhand021_simplified/l_f_link5_3.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/meshes/dexhand021_simplified/l_f_link5_4.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/meshes/dexhand021_simplified/left_hand_base.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/meshes/dexhand021_simplified/left_hand_base_convex.STL filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/usd/configuration/dexhand021_left_base.usd filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/usd/configuration/dexhand021_left_collision_base.usd filter=lfs diff=lfs merge=lfs -text
+dexhand021_left/usd/configuration/dexhand021_left_full_convex_base.usd filter=lfs diff=lfs merge=lfs -text

dexhand021_left/cfgs/__init__.py

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

dexhand021_left/cfgs/dexhand021_left_base_cfg.py

@@ -0,0 +1,175 @@
+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

@@ -0,0 +1,15 @@
+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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