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Fisher-Wang commited on
Commit
8dd1200
·
1 Parent(s): a6953a9

[add] usd asset and robot

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Files changed (15) hide show
  1. assets/bidex/objects/usd/cube_multicolor/configuration/cube_multicolor_base.usd +3 -0
  2. assets/bidex/objects/usd/cube_multicolor/configuration/cube_multicolor_physics.usd +3 -0
  3. assets/bidex/objects/usd/cube_multicolor/configuration/cube_multicolor_sensor.usd +3 -0
  4. assets/bidex/objects/usd/{cube_multicolor.usd → cube_multicolor/cube_multicolor.usd} +2 -2
  5. assets/bidex/open_ai_assets/usd/egg/configuration/egg_base.usd +3 -0
  6. assets/bidex/open_ai_assets/usd/egg/configuration/egg_physics.usd +3 -0
  7. assets/bidex/open_ai_assets/usd/egg/configuration/egg_sensor.usd +3 -0
  8. assets/bidex/open_ai_assets/usd/egg/egg.usd +3 -0
  9. robots/franka_shadow_hand/mjcf/franka_shadow_left.xml +3 -3
  10. robots/franka_shadow_hand/mjcf/franka_shadow_right.xml +1 -1
  11. robots/franka_shadow_hand/mjcf/meshes/palm_left.usd +3 -0
  12. robots/franka_shadow_hand/urdf/franka_shadow_left.urdf +1 -1
  13. robots/franka_shadow_hand/urdf/shadow_left.urdf +1 -1
  14. robots/franka_shadow_hand/usd/franka_shadow_left.usd +2 -2
  15. robots/franka_shadow_hand/usd/franka_shadow_right.usd +2 -2
assets/bidex/objects/usd/cube_multicolor/configuration/cube_multicolor_base.usd ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:3d56d4ab3f4742264788ff85d740906dd34041807cc19c58d990496fcb4ee2ff
3
+ size 5996
assets/bidex/objects/usd/cube_multicolor/configuration/cube_multicolor_physics.usd ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:aba3094152347b0b8a1f819f9a143b59f1639d4d1ab367747918e39d64b30bc5
3
+ size 1800
assets/bidex/objects/usd/cube_multicolor/configuration/cube_multicolor_sensor.usd ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:485ca924bbf25493984a495c6f09b499828debff71a1ca0871ca35f90575f9f3
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+ size 645
assets/bidex/objects/usd/{cube_multicolor.usd → cube_multicolor/cube_multicolor.usd} RENAMED
@@ -1,3 +1,3 @@
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  version https://git-lfs.github.com/spec/v1
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- oid sha256:048449d67407e667c71c046358a6e7eee7855ef2387ed076201f634a7b0fae96
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- size 3539
 
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  version https://git-lfs.github.com/spec/v1
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+ oid sha256:b3ff7bb5c1db15dceb4d776fdeb51a672f2380b1424a4ee6e685c5af53d5cc48
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+ size 6133
assets/bidex/open_ai_assets/usd/egg/configuration/egg_base.usd ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:465c90cc590be501b17341a708fddf796babe73ed58ee8ecdfb2bce924371f73
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+ size 33046
assets/bidex/open_ai_assets/usd/egg/configuration/egg_physics.usd ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:d0afa56b4be7d648898a6edf03c46e1b940ca6ab4a4ec9e1300cb75f950c75f7
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+ size 2409
assets/bidex/open_ai_assets/usd/egg/configuration/egg_sensor.usd ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:0e3e9e89731e27e6adc8331caf838cc228aa91f20169e25be1962347dd8d77d8
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+ size 642
assets/bidex/open_ai_assets/usd/egg/egg.usd ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:3a61b154fa0474e78a937698804d17c9d38d86670f60ca269391167aa7510e62
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+ size 68752
robots/franka_shadow_hand/mjcf/franka_shadow_left.xml CHANGED
@@ -266,7 +266,7 @@
266
  <geom class="DC_Hand" name="C_wrist" type="capsule" pos="0 0 0" quat="0.707 0.707 0 0" size="0.015 0.01" rgba="0.4 0.5 0.6 0.1"></geom>
267
  <body name="palm" pos="0 0 0.034" euler="0 0 3.14159">
268
  <inertial pos="0.006 0 0.036" quat="0.716 0.044 0.075 0.693" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial>
269
- <joint name="WRJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.698 0.489" damping="0.5" armature="0.005"></joint>
270
  <geom class="D_Vizual" name="V_palm" mesh="palm"></geom>
271
  <geom class="DC_Hand" name="C_palm0" type="box" pos="0.011 0 0.038" size="0.032 0.0111 0.049" rgba="0.4 0.5 0.6 0.1"></geom>
272
  <geom class="DC_Hand" name="C_palm1" type="box" pos="-0.032 0 0.014" size="0.011 0.0111 0.025" rgba="0.4 0.5 0.6 0.1"></geom>
@@ -376,9 +376,9 @@
376
  </body>
377
  </body>
378
  </body>
379
- <body name="thbase" pos="-0.034 -0.009 0.029" euler="0 -0.785398163397 3.14159265359">
380
  <inertial pos="0 0 0" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
381
- <joint name="THJ5" type="hinge" pos="0 0 0" axis="-1 0 0" range="-0.2 1.047"></joint>
382
  <geom name="V_thbase" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
383
  <body name="thproximal" pos="0 0 0" euler="0 0 3.14159">
384
  <inertial pos="0 0 0.017" quat="0.982 0 0.001 0.191" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
 
266
  <geom class="DC_Hand" name="C_wrist" type="capsule" pos="0 0 0" quat="0.707 0.707 0 0" size="0.015 0.01" rgba="0.4 0.5 0.6 0.1"></geom>
267
  <body name="palm" pos="0 0 0.034" euler="0 0 3.14159">
268
  <inertial pos="0.006 0 0.036" quat="0.716 0.044 0.075 0.693" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial>
269
+ <joint name="WRJ1" type="hinge" pos="0 0 0" axis="-1 0 0" range="-0.698 0.489" damping="0.5" armature="0.005"></joint>
270
  <geom class="D_Vizual" name="V_palm" mesh="palm"></geom>
271
  <geom class="DC_Hand" name="C_palm0" type="box" pos="0.011 0 0.038" size="0.032 0.0111 0.049" rgba="0.4 0.5 0.6 0.1"></geom>
272
  <geom class="DC_Hand" name="C_palm1" type="box" pos="-0.032 0 0.014" size="0.011 0.0111 0.025" rgba="0.4 0.5 0.6 0.1"></geom>
 
376
  </body>
377
  </body>
378
  </body>
379
+ <body name="thbase" pos="-0.034 -0.009 0.029" quat="0 -0.382683 0 0.92388">
380
  <inertial pos="0 0 0" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
381
+ <joint name="THJ5" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.2 1.047"></joint>
382
  <geom name="V_thbase" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
383
  <body name="thproximal" pos="0 0 0" euler="0 0 3.14159">
384
  <inertial pos="0 0 0.017" quat="0.982 0 0.001 0.191" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
robots/franka_shadow_hand/mjcf/franka_shadow_right.xml CHANGED
@@ -378,7 +378,7 @@
378
  </body>
379
  <body name="thbase" pos="0.034 -0.009 0.029" quat="0.92388 0 0.382683 0">
380
  <inertial pos="0 0 0" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
381
- <joint name="THJ5" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.2 1.047"></joint>
382
  <geom name="V_thbase" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
383
  <body name="thproximal" pos="0 0 0">
384
  <inertial pos="0 0 0.017" quat="0.982 0 0.001 0.191" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
 
378
  </body>
379
  <body name="thbase" pos="0.034 -0.009 0.029" quat="0.92388 0 0.382683 0">
380
  <inertial pos="0 0 0" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
381
+ <joint name="THJ5" type="hinge" pos="0 0 0" axis="-1 0 0" range="-0.2 1.047"></joint>
382
  <geom name="V_thbase" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
383
  <body name="thproximal" pos="0 0 0">
384
  <inertial pos="0 0 0.017" quat="0.982 0 0.001 0.191" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
robots/franka_shadow_hand/mjcf/meshes/palm_left.usd ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:cd983a534394134d60b1a01e55b4fb531e2175f02654c7c5c05be2aba927f564
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+ size 64955
robots/franka_shadow_hand/urdf/franka_shadow_left.urdf CHANGED
@@ -248,7 +248,7 @@
248
  <parent link="wrist" />
249
  <child link="palm" />
250
  <origin rpy="0 0 0" xyz="0 0 0.034" />
251
- <axis xyz="1 0 0" />
252
  <!-- <limit effort="5" lower="-0.78539816339744828" upper="0.6108652381980153" velocity="1.0" /> -->
253
  <limit effort="5" lower="-0.698" upper="0.489" velocity="1.0" />
254
  <dynamics damping="100.5" />
 
248
  <parent link="wrist" />
249
  <child link="palm" />
250
  <origin rpy="0 0 0" xyz="0 0 0.034" />
251
+ <axis xyz="-1 0 0" />
252
  <!-- <limit effort="5" lower="-0.78539816339744828" upper="0.6108652381980153" velocity="1.0" /> -->
253
  <limit effort="5" lower="-0.698" upper="0.489" velocity="1.0" />
254
  <dynamics damping="100.5" />
robots/franka_shadow_hand/urdf/shadow_left.urdf CHANGED
@@ -109,7 +109,7 @@
109
  <parent link="wrist" />
110
  <child link="palm" />
111
  <origin rpy="0 0 0" xyz="0 0 0.034" />
112
- <axis xyz="1 0 0" />
113
  <!-- <limit effort="5" lower="-0.78539816339744828" upper="0.6108652381980153" velocity="1.0" /> -->
114
  <limit effort="5" lower="-0.698" upper="0.489" velocity="1.0" />
115
  <dynamics damping="100.5" />
 
109
  <parent link="wrist" />
110
  <child link="palm" />
111
  <origin rpy="0 0 0" xyz="0 0 0.034" />
112
+ <axis xyz="-1 0 0" />
113
  <!-- <limit effort="5" lower="-0.78539816339744828" upper="0.6108652381980153" velocity="1.0" /> -->
114
  <limit effort="5" lower="-0.698" upper="0.489" velocity="1.0" />
115
  <dynamics damping="100.5" />
robots/franka_shadow_hand/usd/franka_shadow_left.usd CHANGED
@@ -1,3 +1,3 @@
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  version https://git-lfs.github.com/spec/v1
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- oid sha256:f8b0c52573e72c493fe6c5db9bdfa077dca0fbf400e179814df3200ace7a5f05
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- size 22072041
 
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robots/franka_shadow_hand/usd/franka_shadow_right.usd CHANGED
@@ -1,3 +1,3 @@
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  version https://git-lfs.github.com/spec/v1
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- oid sha256:4a91daf762934e8bdd034666c30f8d5a570bbeeec9b8f6c1dff643d2536e87bf
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- size 21428177
 
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