Commit History
6 days ago
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fix: centre the AmazingHand connector on the forearm thread and make it white
Unitree's 23dof forearm mesh has its threaded end centred (+-2.9, 1.7) mm off the wrist roll axis, so the connector and hand now sit on the thread; the mount frame and TCP stay on the roll axis. The connector is white like the other printed parts.e0c234c -
feat: white AmazingHand palm and frames with the palm and top shells
The hand plate, wrist interface and finger frames are white as printed (Pollen's export has them grey). Pollen's palm and top shells, missing from its MJCF export, are added as visual-only meshes with the hand plate's pose; the palm collision box is unchanged.ebee4b4
13 days ago
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feat: mount the AmazingHand on the lab's PLA connector
Verified signatureAdds the Amazing Hand Connector (Onshape STEP export + STL) as a visual-only body in each ee_mount, 28.2 g PLA with COM/inertia from the STEP, and moves the hand ring to x = 0.048 m in the mount frame (0.132 m along the 23dof wrist_roll_link, flange seated on the forearm end face). The hand roll about the forearm axis and the 29dof mount stay placeholders.d3f5c71 -
refactor!: move the worlds and the scripted grasp out to the worlds repo
assets/worlds/pick_cylinder, tools/grasp_diag.py and tools/thumb_map.py now live in unitree-g1-mujoco-worlds, which this repo only resolves by WORLD spec. The world tests become generic mechanism tests against a robot-agnostic fixture world (tabletop) and cover resolution, name clashes, several objects, relative asset paths and the hand collision bit. The README describes the world contract and what the robot adds.5978dab
20 days ago
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fix: mirror the optional pad axis of the left thumb
The left distal frames are mirrored about the palm plane (checked on the composed model: mapping the right pad axes through the mirror gives the same finger axis and a sign-flipped thumb z), so build(pads=True) now gives the left thumb pad 0 -0.97 0.23. ToolsTests checks both sides.3dd7b95 -
test: physical grasp through LeRobot's closure_to_q lifts the cylinder
lerobot_params() closes with AMAZING_HAND.closure_to_q (open -35/+35, closed +60/-60, thumb +75/-75, linear, all fingers together): 25/25 on the +-2 cm grid, so the teleop's current constants need no change. grasp_diag gains --lerobot.7ce3206 -
feat: physical grasp of the pick_cylinder passes 25/25 with a dynamic arm
physics_params() is the tuned grasp: the cylinder (now 15 cm tall) 7.5 cm along the fingers and 3 cm off the palm, fingers to +-70 deg, thumb last, a diagonal lift, and the arm driven through the bridge with LeRobot's gains and G1ArmIK gravity torques at TCP (0.33, -0.15, 0.86), where the level palm clears the torso and the table. It lifts 8-9 cm with 1-2 mm slip on the +-2 cm spawn grid with the stock rigid hand. The physics test no longer expects a failure; WORLD_GRASP stays attach by default.1d70c18 -
feat: optional soft fingertip pads in the AmazingHand generator
build(pads=True) puts each distal body's collision geoms on a slide joint (0-5 mm, 500 N/m, 2 Ns/m) along the closed-grasp contact normal. At the dynamic-arm grasp cell pads (300-800 N/m) and softer finger loops (solref 0.003-0.008) did not change the outcome (rigid 25/25, pad 500 + loop 0.005 25/25, pad 500 21/25), so the committed parts file stays rigid.3fdbb79 -
fix: pin the harness base so the dynamic arm tracks under the teleop gains
The base was held by overwriting qpos, so it free-fell inside every step (feet-floor contacts and gravity on a 35 kg free joint) and its mass-matrix coupling fed up to 1.5 Nm into the shoulder, which the gravity feed-forward then fought (13-62 mm error). A 1e4 armature on the held dofs and no floor contact remove it: with LeRobot's default arm gains and G1ArmIK gravity torques the grasp pose is held within 1.3 mm. GraspParams gains arm_gains and gravity.0bd2b7c -
merge: closed-stage grasp diagnostics (exp/physics-lift)
663100f -
feat: grasp_diag closed-stage force diagnostics, dynamic-arm and forward-lift options
0e9f6f5 -
feat: attach-on-close kinematic grasp for the pick_cylinder world (WORLD_GRASP)
A weld per hand is composed in for WORLD_GRASP=attach (default) and activated at the current relative pose when the AmazingHand's fingers 1-3 close past 0.6 with the object in the grasp zone; it releases at 0.4.43d0244 -
feat: thumb pose map tool and thumb open/closed poses for the side grasp
aba4c8d -
feat: grasp_diag procedure per the plan with per-finger close windows, contact forces and timeline diagnostics
Pre-grasp 0.10 m back, 1.5 s approach, 1.2 s close with the thumb starting at 40 %, 0.10 m lift. The lift test stays an expected failure: 0/25 on the spawn grid.6f4ce12 -
feat: grasp physics per the reference hand: slim finger cores, fingertip capsules, elliptic cone world option
The pick_cylinder world sets elliptic cones, impratio 10 and implicitfast; compose merges a world option into the scene. The cylinder is r 0.025 / h 0.12 / 0.05 kg with priority 2 contact parameters over the finger pads, on a 0.755 m table. Finger joints get damping.b44c447 -
feat: move the pick_cylinder spawn into the 23dof arm's reachable band and test the reach
The sim grasp test now uses tools/grasp_diag.py; the closed-hand lift is an expected failure until the hand collision and grasp procedure are reworked.222185d -
feat: grasp_diag tool with first-contact, orientation and PNG diagnostics for the scripted grasp
9ef3581 -
feat: AmazingHand collision geoms so the fingers can grasp
Fit a capsule per phalanx and a box for the palm plate to the visual meshes (group 3, contype 2, conaffinity 0: they touch only world objects whose geoms carry conaffinity bit 2), limit the finger actuators to the SCS0009 stall torque and lower the passive linkage friction so that torque can move them. pick_cylinder becomes a narrow, tall cylinder on a 0.75 m table, graspable by the right hand (tests/test_worlds.py closes it and lifts it), and WORLD_RANDOMIZE keeps the cylinder 5 cm inside the table edge.5e6b21b
26 days ago
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feat: {side}_tcp site in every end effector for XR arm IK
The point that follows the operator's tracked wrist, in the mount frame. Placeholder until CAD: xr_teleoperate's G1_29 IK end effector (wrist_yaw_link +0.05 m).e83e679 -
refactor: extract bodies and end effectors into reusable parts files
Every model is now one bare body plus parts files, so each end effector and head is defined once and reused on either body: - assets/g1_29dof.xml, assets/g1_23dof.xml: Unitree's bodies without hands and with the bare wrist inertia (the 23dof wrist-roll link is now wrist_roll_link, like on 29dof) - assets/end_effectors/{rubber_hand,dex1,dex3,amazing_hand}.xml: each a left/right_ee_mount body in the 29dof wrist_yaw_link frame with the assets, defaults, actuators, sensors and equality constraints it uses - assets/heads/d455_pan_tilt.xml: the pan/tilt head in the 23dof torso frame rubber_hand, dex3 and the bodies are extracted once from Unitree's full models (named in each file; the originals are in history at 1801640); dex1 and amazing_hand are generated by tools/build_dex1_model.py and tools/build_amazing_hand.py, and ToolsTests checks they are up to date. sim/mjcf/compose.py only attaches parts. The full Dex1/Dex3/rubber-hand models and URDFs, the fused 23dof wrist meshes, p…739c738 -
refactor: group model composition in sim/mjcf; test the asset generators
sim/model_builder.py, sim/amazing_hand.py and sim/pan_tilt_head.py only build MJCF, unlike the rest of sim/ (the simulator, DDS bridge, head/hand device), so they move to sim/mjcf/ as compose.py, amazing_hand.py and pan_tilt_head.py. tools/build_dex1_model.py takes an output directory, and ToolsTests checks that both tools reproduce the committed assets (the forearm meshes test skips while the meshes are git-lfs pointers).5fb894a -
refactor: name models by body and end effector; move builders into sim/ and tools/
Assets are named g1_<body>_<end_effector>: g1_{29,23}dof_rubber_hand.xml (were *_no_hand, though they carry the rubber hands), g1_29dof_dex1.xml /.urdf (were with_grippers / with_dex1_1), g1_29dof_dex3.xml/.urdf (were with_hand / g1_body29_hand14), and one scene.xml template (was scene_hands_cameras.xml). The composer builds every scene, so the fixed scene_{23,29,33,43}dof.xml, scene_23dof_ah_d455.xml, g1_23dof_ah_d455.xml and g1_29dof_with_hand_cameras.xml are removed; it adds Dex1's wrist cameras to Dex3 itself. build_g1_ah_model.py is split into sim/pan_tilt_head.py and sim/amazing_hand.py (runtime parts, absolute mesh paths) and tools/build_forearm_meshes.py; build_gripper_model.py becomes tools/build_dex1_model.py and only writes the Dex1 MJCF/URDF. Both tools reproduce the committed files (only the model names changed), and the composed models are unchanged.5896a2a