diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..74178eb4d41b21c1e0d52cca23253e479f17615a --- /dev/null +++ b/.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 diff --git a/dexhand021_left/cfgs/__init__.py b/dexhand021_left/cfgs/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..ea187650abb6b1e7dd30bd511138220b206c7a92 --- /dev/null +++ b/dexhand021_left/cfgs/__init__.py @@ -0,0 +1 @@ +"""Robot configuration files.""" diff --git a/dexhand021_left/cfgs/dexhand021_left_base_cfg.py b/dexhand021_left/cfgs/dexhand021_left_base_cfg.py new file mode 100644 index 0000000000000000000000000000000000000000..92332122ecdbab59ba5524aa4c5f2c06a97c6ef0 --- /dev/null +++ b/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 + } diff --git a/dexhand021_left/cfgs/dexhand021_left_cfg.py b/dexhand021_left/cfgs/dexhand021_left_cfg.py new file mode 100644 index 0000000000000000000000000000000000000000..f25eaec9f79f54cbd2ffdd20c252552b06e30351 --- /dev/null +++ b/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 diff --git a/dexhand021_left/meshes/dexhand021_simplified/l_f_link1_1.STL b/dexhand021_left/meshes/dexhand021_simplified/l_f_link1_1.STL new file mode 100644 index 0000000000000000000000000000000000000000..55aac207e41ae789967f911bca4745ebc6ed1a0c --- /dev/null +++ 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