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[update] finish modeling of shadow hand
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@yzqin
yzqin committed Oct 22, 2023
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8 changes: 4 additions & 4 deletions README.md
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This repository offers an assortment of high-quality models for dexterous hands and objects. Both of them are in URDF
format.

| Robot Model | Ray-Tracing[^1] | Rasterization[^2] | Load Checking[^3] | Hand Type |
|:------------:|:----------------------------------:|:-----------------:|:------------------:|:------------:|
| Allegro Hand | ![](doc/gallery/allegro_rt.webp) | 0 | :white_check_mark: | Left & Right |
| Robot Model | Ray-Tracing[^1] | Rasterization[^2] |
|:------------:|:--------------------------------:|:-----------------:|
| Allegro Hand | ![](doc/gallery/allegro_rt.webp) | 0 |
| Shadow Hand | ![](doc/gallery/shadow_rt.webp) | 0 |

[^1]: Ray tracing images are rendered in `SAPIEN` using the urdf with `glb` version
[^2]: Rasterization images are rendered in `IsaacGym` using the with the `glb` version
[^3]: Loading checking means the URDF has been tested in the
following platform: [yourdfpy](https://github.com/clemense/yourdfpy),
[IsaacGym](https://developer.nvidia.com/isaac-gym),
[SAPIEN](https://sapien.ucsd.edu/),
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13 changes: 13 additions & 0 deletions robots/shadow_hand/README.md
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### Modifications to URDF

The initial `dae` meshes found in
the [shadow hand repository](https://github.com/shadow-robot/sr_common/tree/noetic-devel/sr_description/meshes/components/f_knuckle)
were identical or very similar for the `f_knuckle`. As a result, we retained only one of these. The same process was
applied to meshes of other parts, with duplicates being removed to enhance the clarity of the file structure.

For the `distal` finger, we have only kept the `pst` version, which does not include the biotac sensor.

In addition, we have increased the inertia for all fingertip links to resolve the position drive problem in SAPIEN and
IsaacGym.

Almost all meshes have been modified to improve visual quality and collision management.
266 changes: 266 additions & 0 deletions robots/shadow_hand/meshes/collision/f_knuckle_E3M5.obj
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# www.blender.org
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