upload robots

.gitattributes

@@ -60,3 +60,131 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Custom
 scenes/GRScenes-100/home_scenes.z01 filter=lfs diff=lfs merge=lfs -text
 scenes/GRScenes-100/home_scenes.z02 filter=lfs diff=lfs merge=lfs -textbenchmark/sn_episodes.json filter=lfs diff=lfs merge=lfs -text
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robots/aliengo/aliengo_camera.usdz

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robots/aliengo/policy/move_by_speed/aliengo_loco_model_4000.pt

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robots/franka/Props/panda_hand.usd

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robots/franka/Props/panda_link0.usd

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robots/franka/franka_rmpflow_common.yaml

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+# Copyright (c) 2019-2021, NVIDIA CORPORATION.  All rights reserved.
+#
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+joint_limit_buffers: [.01, .03, .01, .01, .01, .01, .01]
+
+rmp_params:
+    cspace_target_rmp:
+        metric_scalar: 50.
+        position_gain: 100.
+        damping_gain: 50.
+        robust_position_term_thresh: .5
+        inertia: 1.
+    cspace_trajectory_rmp:
+        p_gain: 100.
+        d_gain: 10.
+        ff_gain: .25
+        weight: 50.
+    cspace_affine_rmp:
+        final_handover_time_std_dev: .25
+        weight: 2000.
+    joint_limit_rmp:
+        metric_scalar: 1000.
+        metric_length_scale: .01
+        metric_exploder_eps: 1e-3
+        metric_velocity_gate_length_scale: .01
+        accel_damper_gain: 200.
+        accel_potential_gain: 1.
+        accel_potential_exploder_length_scale: .1
+        accel_potential_exploder_eps: 1e-2
+    joint_velocity_cap_rmp:
+        max_velocity: 4.  # max_xd
+        velocity_damping_region: 1.5
+        damping_gain: 1000.0
+        metric_weight: 100. # metric_scalar
+    target_rmp:
+        accel_p_gain: 30.
+        accel_d_gain: 85.
+        accel_norm_eps: .075
+        metric_alpha_length_scale: .05
+        min_metric_alpha: .01
+        max_metric_scalar: 10000
+        min_metric_scalar: 2500
+        proximity_metric_boost_scalar: 20.
+        proximity_metric_boost_length_scale: .02
+        xi_estimator_gate_std_dev: 20000.
+        accept_user_weights: false  # Values >= .5 are true and < .5 are false
+    axis_target_rmp:
+        accel_p_gain: 210.
+        accel_d_gain: 60.
+        metric_scalar: 10
+        proximity_metric_boost_scalar: 3000.
+        proximity_metric_boost_length_scale: .08
+        xi_estimator_gate_std_dev: 20000.
+        accept_user_weights: false
+    collision_rmp:
+        damping_gain: 50.
+        damping_std_dev: .04
+        damping_robustness_eps: 1e-2
+        damping_velocity_gate_length_scale: .01
+        repulsion_gain: 800.
+        repulsion_std_dev: .01
+        metric_modulation_radius: .5
+        metric_scalar: 10000.  # Real value should be this.
+        #metric_scalar: 0.  # Turns off collision avoidance.
+        metric_exploder_std_dev: .02
+        metric_exploder_eps: .001
+    damping_rmp:
+        accel_d_gain: 30.
+        metric_scalar: 50.
+        inertia: 100.
+
+canonical_resolve:
+    max_acceleration_norm: 50.
+    projection_tolerance: .01
+    verbose: false
+
+body_cylinders:
+    - name: base_stem
+      pt1: [0,0,.333]
+      pt2: [0,0,0.]
+      radius: .05
+    - name: base_tee
+      pt1: [0,0,.333]
+      pt2: [0,0,.333]
+      radius: .15
+
+# Each arm is approx. 1m from (arm) base to gripper center.
+# .1661 between links (approx .15)
+body_collision_controllers:
+    - name: panda_link7
+      radius: .05
+    - name: panda_wrist_end_pt
+      radius: .05
+    - name: panda_hand
+      radius: .05
+    - name: panda_face_left
+      radius: .05
+    - name: panda_face_right
+      radius: .05
+    - name: panda_leftfingertip
+      radius: .075
+    - name: panda_rightfingertip
+      radius: .075

robots/franka/lula_franka_gen.urdf

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+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from lula_franka.urdf.xacro         | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="franka" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_joint" type="fixed">
+    <origin rpy="0 -1.57079632679 3.14159265359" xyz="0.0358116 0 0.0360562"/>
+    <parent link="panda_hand"/>
+    <child link="camera_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_bottom_screw_frame"/>
+  <joint name="camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.02 0.0115"/>
+    <parent link="camera_bottom_screw_frame"/>
+    <child link="camera_link"/>
+  </joint>
+  <link name="camera_link">
+    <visual>
+      <origin rpy="1.57079632679 0 1.57079632679" xyz="0.00987 -0.02 0"/>
+      <geometry>
+        <box size="0.099 0.023 0.02005"/>
+        <!--<mesh filename="package://realsense2_camera/meshes/d415.stl" />-->
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.02 0"/>
+      <geometry>
+        <box size="0.02005 0.099 0.023"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.564"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <!-- camera depth joints and links -->
+  <joint name="camera_depth_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="camera_link"/>
+    <child link="camera_depth_frame"/>
+  </joint>
+  <link name="camera_depth_frame"/>
+  <joint name="camera_depth_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="camera_depth_frame"/>
+    <child link="camera_depth_optical_frame"/>
+  </joint>
+  <link name="camera_depth_optical_frame"/>
+  <!-- camera left IR joints and links -->
+  <joint name="camera_left_ir_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.0 0"/>
+    <parent link="camera_depth_frame"/>
+    <child link="camera_left_ir_frame"/>
+  </joint>
+  <link name="camera_left_ir_frame"/>
+  <joint name="camera_left_ir_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="camera_left_ir_frame"/>
+    <child link="camera_left_ir_optical_frame"/>
+  </joint>
+  <link name="camera_left_ir_optical_frame"/>
+  <!-- camera right IR joints and links -->
+  <joint name="camera_right_ir_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.055 0"/>
+    <parent link="camera_depth_frame"/>
+    <child link="camera_right_ir_frame"/>
+  </joint>
+  <link name="camera_right_ir_frame"/>
+  <joint name="camera_right_ir_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="camera_right_ir_frame"/>
+    <child link="camera_right_ir_optical_frame"/>
+  </joint>
+  <link name="camera_right_ir_optical_frame"/>
+  <!-- camera color joints and links -->
+  <joint name="camera_color_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.015 0"/>
+    <parent link="camera_depth_frame"/>
+    <child link="camera_color_frame"/>
+  </joint>
+  <link name="camera_color_frame"/>
+  <joint name="camera_color_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="camera_color_frame"/>
+    <child link="camera_color_optical_frame"/>
+  </joint>
+  <link name="camera_color_optical_frame"/>
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/link0.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/link0.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/link1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/link1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link2">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/link2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/link2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link3">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/link3.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/link3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link4">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/link4.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/link4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link5">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/link5.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/link5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link6">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/link6.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/link6.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link7">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/link7.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/link7.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link8"/>
+  <joint name="panda_joint8" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.107"/>
+    <parent link="panda_link7"/>
+    <child link="panda_link8"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <joint name="panda_hand_joint" type="fixed">
+    <parent link="panda_link8"/>
+    <child link="panda_hand"/>
+    <origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
+  </joint>
+  <link name="panda_hand">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/hand.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/hand.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_leftfinger">
+    <visual>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="panda_rightfinger">
+    <visual>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://franka_description/meshes/collision/finger.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_finger_joint1" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_leftfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
+  </joint>
+  <joint name="panda_finger_joint2" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_rightfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
+    <mimic joint="panda_finger_joint1"/>
+  </joint>
+  <link name="base_link"/>
+  <joint name="base_link_robot" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="base_link"/>
+    <child link="panda_link0"/>
+  </joint>
+  <link name="right_gripper"/>
+  <joint name="right_gripper" type="fixed">
+    <origin rpy="0 0 2.35619449019" xyz="0.0 0 0.1"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_link8"/>
+    <child link="right_gripper"/>
+  </joint>
+  <link name="panda_rightfingertip"/>
+  <joint name="panda_rightfingertip" type="fixed">
+    <origin rpy="0 0 3.14159265359" xyz="0.0 0 0.045"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_rightfinger"/>
+    <child link="panda_rightfingertip"/>
+  </joint>
+  <link name="panda_leftfingertip"/>
+  <joint name="panda_leftfingertip" type="fixed">
+    <origin rpy="0 0 3.14159265359" xyz="0.0 0 0.045"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_leftfinger"/>
+    <child link="panda_leftfingertip"/>
+  </joint>
+  <link name="panda_forearm_end_pt"/>
+  <joint name="panda_forearm_end_pt" type="fixed">
+    <origin rpy="0 0 0.0" xyz="-0.09 0.02 0.0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_link4"/>
+    <child link="panda_forearm_end_pt"/>
+  </joint>
+  <link name="panda_forearm_mid_pt"/>
+  <joint name="panda_forearm_mid_pt" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.175 0.0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_forearm_end_pt"/>
+    <child link="panda_forearm_mid_pt"/>
+  </joint>
+  <link name="panda_forearm_mid_pt_shifted"/>
+  <joint name="panda_forearm_mid_pt_shifted" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0 -0.05"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_forearm_mid_pt"/>
+    <child link="panda_forearm_mid_pt_shifted"/>
+  </joint>
+  <link name="panda_forearm_distal"/>
+  <joint name="panda_forearm_distal" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.1 0.0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_link5"/>
+    <child link="panda_forearm_distal"/>
+  </joint>
+  <link name="panda_wrist_end_pt"/>
+  <joint name="panda_wrist_end_pt" type="fixed">
+    <origin rpy="0 0 0.0" xyz="0.0 0.0 -0.07"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_link7"/>
+    <child link="panda_wrist_end_pt"/>
+  </joint>
+  <link name="panda_face_left"/>
+  <joint name="panda_face_left" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.07 0.04"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_hand"/>
+    <child link="panda_face_left"/>
+  </joint>
+  <link name="panda_face_right"/>
+  <joint name="panda_face_right" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.07 0.04"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_hand"/>
+    <child link="panda_face_right"/>
+  </joint>
+  <link name="panda_face_back_left"/>
+  <joint name="panda_face_back_left" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.07 0.0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_hand"/>
+    <child link="panda_face_back_left"/>
+  </joint>
+  <link name="panda_face_back_right"/>
+  <joint name="panda_face_back_right" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 -0.07 0.0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_hand"/>
+    <child link="panda_face_back_right"/>
+  </joint>
+  <!--<link name="left_gripper"/>
+  <joint name="left_gripper" type="fixed">
+    <origin rpy="0 0 ${pi/2}" xyz="0 0 0.13"/>
+    <axis xyz="0 0 1"/>
+    <parent link="gripper_l_base"/>
+    <child link="left_gripper"/>
+  </joint>
+  -->
+</robot>
+

robots/franka/mocap_teleop_franka.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b31587078c5ef9a14190d47befff18e8662ab7acce2618804889fa97a40c47df
+size 130607

robots/franka/rmpflow/config.json

@@ -0,0 +1,10 @@
+{
+    "end_effector_frame_name": "right_gripper",
+    "maximum_substep_size" : 0.00334,
+    "ignore_robot_state_updates" : false,
+    "relative_asset_paths": {
+        "robot_description_path" : "robot_descriptor.yaml",
+        "urdf_path": "../lula_franka_gen.urdf",
+        "rmpflow_config_path" : "franka_rmpflow_common.yaml"
+    }
+}

robots/franka/rmpflow/config_cortex.json

@@ -0,0 +1,10 @@
+{
+    "end_effector_frame_name": "right_gripper",
+    "maximum_substep_size" : 0.00167,
+    "ignore_robot_state_updates" : true,
+    "relative_asset_paths": {
+        "robot_description_path" : "robot_descriptor.yaml",
+        "urdf_path": "../lula_franka_gen.urdf",
+        "rmpflow_config_path" : "franka_rmpflow_common.yaml"
+    }
+}

robots/franka/rmpflow/config_no_feedback.json

@@ -0,0 +1,10 @@
+{
+    "end_effector_frame_name": "right_gripper",
+    "maximum_substep_size" : 0.00167,
+    "ignore_robot_state_updates" : true,
+    "relative_asset_paths": {
+        "robot_description_path" : "robot_descriptor.yaml",
+        "urdf_path": "../lula_franka_gen.urdf",
+        "rmpflow_config_path" : "franka_rmpflow_common.yaml"
+    }
+}

robots/franka/rmpflow/franka_rmpflow_common.yaml

@@ -0,0 +1,108 @@
+# Copyright (c) 2019-2021, NVIDIA CORPORATION.  All rights reserved.
+#
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+joint_limit_buffers: [.01, .03, .01, .01, .01, .01, .01]
+
+rmp_params:
+    cspace_target_rmp:
+        metric_scalar: 50.
+        position_gain: 100.
+        damping_gain: 50.
+        robust_position_term_thresh: .5
+        inertia: 1.
+    cspace_trajectory_rmp:
+        p_gain: 100.
+        d_gain: 10.
+        ff_gain: .25
+        weight: 50.
+    cspace_affine_rmp:
+        final_handover_time_std_dev: .25
+        weight: 2000.
+    joint_limit_rmp:
+        metric_scalar: 1000.
+        metric_length_scale: .01
+        metric_exploder_eps: 1e-3
+        metric_velocity_gate_length_scale: .01
+        accel_damper_gain: 200.
+        accel_potential_gain: 1.
+        accel_potential_exploder_length_scale: .1
+        accel_potential_exploder_eps: 1e-2
+    joint_velocity_cap_rmp:
+        max_velocity: 4.  # max_xd
+        velocity_damping_region: 1.5
+        damping_gain: 1000.0
+        metric_weight: 100. # metric_scalar
+    target_rmp:
+        accel_p_gain: 30.
+        accel_d_gain: 85.
+        accel_norm_eps: .075
+        metric_alpha_length_scale: .05
+        min_metric_alpha: .01
+        max_metric_scalar: 10000
+        min_metric_scalar: 2500
+        proximity_metric_boost_scalar: 20.
+        proximity_metric_boost_length_scale: .02
+        xi_estimator_gate_std_dev: 20000.
+        accept_user_weights: false  # Values >= .5 are true and < .5 are false
+    axis_target_rmp:
+        accel_p_gain: 210.
+        accel_d_gain: 60.
+        metric_scalar: 10
+        proximity_metric_boost_scalar: 3000.
+        proximity_metric_boost_length_scale: .08
+        xi_estimator_gate_std_dev: 20000.
+        accept_user_weights: false
+    collision_rmp:
+        damping_gain: 50.
+        damping_std_dev: .04
+        damping_robustness_eps: 1e-2
+        damping_velocity_gate_length_scale: .01
+        repulsion_gain: 800.
+        repulsion_std_dev: .01
+        metric_modulation_radius: .5
+        metric_scalar: 10000.  # Real value should be this.
+        #metric_scalar: 0.  # Turns off collision avoidance.
+        metric_exploder_std_dev: .02
+        metric_exploder_eps: .001
+    damping_rmp:
+        accel_d_gain: 30.
+        metric_scalar: 50.
+        inertia: 100.
+
+canonical_resolve:
+    max_acceleration_norm: 50.
+    projection_tolerance: .01
+    verbose: false
+
+body_cylinders:
+    - name: base_stem
+      pt1: [0,0,.333]
+      pt2: [0,0,0.]
+      radius: .05
+    - name: base_tee
+      pt1: [0,0,.333]
+      pt2: [0,0,.333]
+      radius: .15
+
+# Each arm is approx. 1m from (arm) base to gripper center.
+# .1661 between links (approx .15)
+body_collision_controllers:
+    - name: panda_link7
+      radius: .05
+    - name: panda_wrist_end_pt
+      radius: .05
+    - name: panda_hand
+      radius: .05
+    - name: panda_face_left
+      radius: .05
+    - name: panda_face_right
+      radius: .05
+    - name: panda_leftfingertip
+      radius: .075
+    - name: panda_rightfingertip
+      radius: .075

robots/franka/rmpflow/robot_descriptor.yaml

@@ -0,0 +1,165 @@
+# Copyright (c) 2019-2021, NVIDIA CORPORATION.  All rights reserved.
+#
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+# The robot descriptor defines the generalized coordinates and how to map those
+# to the underlying URDF dofs.
+
+api_version: 1.0
+
+# Defines the generalized coordinates. Each generalized coordinate is assumed
+# to have an entry in the URDF, except when otherwise specified below under
+# cspace_urdf_bridge
+cspace:
+    - panda_joint1
+    - panda_joint2
+    - panda_joint3
+    - panda_joint4
+    - panda_joint5
+    - panda_joint6
+    - panda_joint7
+
+root_link: base_link
+
+default_q: [
+    # Original version
+    # 0.00, 0.00, 0.00, -1.57, 0.00, 1.50, 0.75
+
+    # New config
+    0.00, -1.3, 0.00, -2.87, 0.00, 2.00, 0.75
+]
+
+acceleration_limits: [15.0, 7.5, 10.0, 12.5, 15.0, 20.0, 20.0]
+jerk_limits: [7500.0, 3750.0, 5000.0, 6250.0, 7500.0, 10000.0, 10000.0]
+
+# Most dimensions of the cspace have a direct corresponding element
+# in the URDF. This list of rules defines how unspecified coordinates
+# should be extracted.
+cspace_to_urdf_rules:
+    - {name: panda_finger_joint1, rule: fixed, value: 0.025}
+    - {name: panda_finger_joint2, rule: fixed, value: 0.025}
+
+collision_spheres:
+    - panda_link0:
+        - "center": [0.0, 0.0, 0.05]
+          "radius": 0.045
+    - panda_link1:
+        - "center": [0.0, -0.08, 0.0]
+          "radius": 0.06
+        - "center": [0.0, -0.03, 0.0]
+          "radius": 0.06
+        - "center": [0.0, 0.0, -0.12]
+          "radius": 0.06
+        - "center": [0.0, 0.0, -0.17]
+          "radius": 0.06
+    - panda_link2:
+        - "center": [0.0, 0.0, 0.03]
+          "radius": 0.06
+        - "center": [0.0, 0.0, 0.08]
+          "radius": 0.06
+        - "center": [0.0, -0.12, 0.0]
+          "radius": 0.06
+        - "center": [0.0, -0.17, 0.0]
+          "radius": 0.06
+    - panda_link3:
+        - "center": [0.0, 0.0, -0.06]
+          "radius": 0.05
+        - "center": [0.0, 0.0, -0.1]
+          "radius": 0.06
+        - "center": [0.08, 0.06, 0.0]
+          "radius": 0.055
+        - "center": [0.08, 0.02, 0.0]
+          "radius": 0.055
+    - panda_link4:
+        - "center": [0.0, 0.0, 0.02]
+          "radius": 0.055
+        - "center": [0.0, 0.0, 0.06]
+          "radius": 0.055
+        - "center": [-0.08, 0.095, 0.0]
+          "radius": 0.06
+        - "center": [-0.08, 0.06, 0.0]
+          "radius": 0.055
+    - panda_link5:
+        - "center": [0.0, 0.055, 0.0]
+          "radius": 0.06
+        - "center": [0.0, 0.075, 0.0]
+          "radius": 0.06
+        - "center": [0.0, 0.000, -0.22]
+          "radius": 0.06
+        - "center": [0.0, 0.05, -0.18]
+          "radius": 0.05
+        - "center": [0.01, 0.08, -0.14]
+          "radius": 0.025
+        - "center": [0.01, 0.085, -0.11]
+          "radius": 0.025
+        - "center": [0.01, 0.09, -0.08]
+          "radius": 0.025
+        - "center": [0.01, 0.095, -0.05]
+          "radius": 0.025
+        - "center": [-0.01, 0.08, -0.14]
+          "radius": 0.025
+        - "center": [-0.01, 0.085, -0.11]
+          "radius": 0.025
+        - "center": [-0.01, 0.09, -0.08]
+          "radius": 0.025
+        - "center": [-0.01, 0.095, -0.05]
+          "radius": 0.025
+    - panda_link6:
+        - "center": [0.0, 0.0, 0.0]
+          "radius": 0.06
+        - "center": [0.08, 0.03, 0.0]
+          "radius": 0.06
+        - "center": [0.08, -0.01, 0.0]
+          "radius": 0.06
+    - panda_link7:
+        - "center": [0.0, 0.0, 0.07]
+          "radius": 0.05
+        - "center": [0.02, 0.04, 0.08]
+          "radius": 0.025
+        - "center": [0.04, 0.02, 0.08]
+          "radius": 0.025
+        - "center": [0.04, 0.06, 0.085]
+          "radius": 0.02
+        - "center": [0.06, 0.04, 0.085]
+          "radius": 0.02
+    - panda_hand:
+        - "center": [0.0, -0.075, 0.01]
+          "radius": 0.028
+        - "center": [0.0, -0.045, 0.01]
+          "radius": 0.028
+        - "center": [0.0, -0.015, 0.01]
+          "radius": 0.028
+        - "center": [0.0, 0.015, 0.01]
+          "radius": 0.028
+        - "center": [0.0, 0.045, 0.01]
+          "radius": 0.028
+        - "center": [0.0, 0.075, 0.01]
+          "radius": 0.028
+        - "center": [0.0, -0.075, 0.03]
+          "radius": 0.026
+        - "center": [0.0, -0.045, 0.03]
+          "radius": 0.026
+        - "center": [0.0, -0.015, 0.03]
+          "radius": 0.026
+        - "center": [0.0, 0.015, 0.03]
+          "radius": 0.026
+        - "center": [0.0, 0.045, 0.03]
+          "radius": 0.026
+        - "center": [0.0, 0.075, 0.03]
+          "radius": 0.026
+        - "center": [0.0, -0.075, 0.05]
+          "radius": 0.024
+        - "center": [0.0, -0.045, 0.05]
+          "radius": 0.024
+        - "center": [0.0, -0.015, 0.05]
+          "radius": 0.024
+        - "center": [0.0, 0.015, 0.05]
+          "radius": 0.024
+        - "center": [0.0, 0.045, 0.05]
+          "radius": 0.024
+        - "center": [0.0, 0.075, 0.05]
+          "radius": 0.024

robots/g1/g1_29dof_color.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c5a56ce1a4817883cb7aa4bfc3047f217b2835a6f77f66a6aad317d9a2f01343
+size 26623375

robots/g1/policy/move_by_speed/g1_15000.onnx

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9f2a7d83723889df4b149774eec1253a82ee5623e755070d1a49d10d2e48b777
+size 1924558

robots/gr1/gr1.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:08ff67e854400d36c52b855477c1bc253a692b40a68c96dd5cbbf6dfbdd2dd25
+size 33576457

robots/gr1/inspire_hand/inspire_hand.yml

@@ -0,0 +1,35 @@
+left:
+  type: vector
+  urdf_path: inspire_hand_left.urdf
+  wrist_link_name: "L_hand_base_link"
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: null
+  target_origin_link_names: [ "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link" ]
+  target_task_link_names: [ "L_thumb_tip", "L_index_tip", "L_middle_tip", "L_ring_tip", "L_pinky_tip" ]
+  scaling_factor: 1.1
+
+  # Source refers to the retargeting input, which usually corresponds to the human hand
+  # The joint indices of human hand joint which corresponds to each link in the target_link_names
+  target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.5
+
+right:
+  type: vector
+  urdf_path: inspire_hand_right.urdf
+  wrist_link_name: "R_hand_base_link"
+
+  # Target refers to the retargeting target, which is the robot hand
+  target_joint_names: null
+  target_origin_link_names: [ "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link" ]
+  target_task_link_names: [ "R_thumb_tip", "R_index_tip", "R_middle_tip", "R_ring_tip", "R_pinky_tip" ]
+  scaling_factor: 1.1
+
+  # Source refers to the retargeting input, which usually corresponds to the human hand
+  # The joint indices of human hand joint which corresponds to each link in the target_link_names
+  target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]
+
+  # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+  low_pass_alpha: 0.5

robots/gr1/inspire_hand/inspire_hand_left.urdf

@@ -0,0 +1,819 @@
+<robot
+  name="h1">
+
+    <link name="L_hand_base_link">
+      <inertial>
+        <origin
+          xyz="-0.002551 -0.066047 -0.0019357"
+          rpy="0 0 0" />
+        <mass
+          value="0.14143" />
+        <inertia
+          ixx="0.0001234"
+          ixy="2.1995E-06"
+          ixz="-1.7694E-06"
+          iyy="8.3835E-05"
+          iyz="1.5968E-06"
+          izz="7.7231E-05" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/L_hand_base_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/L_hand_base_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="L_thumb_proximal_base">
+      <inertial>
+        <origin
+          xyz="0.0048817 0.00038782 -0.00722"
+          rpy="0 0 0" />
+        <mass
+          value="0.0018869" />
+        <inertia
+          ixx="5.5158E-08"
+          ixy="-1.1803E-08"
+          ixz="-4.6743E-09"
+          iyy="8.2164E-08"
+          iyz="-1.3521E-09"
+          izz="6.7434E-08" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link11_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link11_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_proximal_yaw_joint"
+      type="revolute">
+      <origin
+        xyz="-0.01696 -0.0691 0.02045"
+        rpy="1.5708 -1.5708 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_thumb_proximal_base" />
+      <axis
+        xyz="0 0 1" />
+      <limit
+        lower="-0.1"
+        upper="1.3"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_thumb_proximal">
+      <inertial>
+        <origin
+          xyz="0.021936 -0.01279 -0.0080386"
+          rpy="0 0 0" />
+        <mass
+          value="0.0066101" />
+        <inertia
+          ixx="1.5693E-06"
+          ixy="7.8339E-07"
+          ixz="8.5959E-10"
+          iyy="1.7356E-06"
+          iyz="1.0378E-09"
+          izz="2.787E-06" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link12_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link12_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_proximal_pitch_joint"
+      type="revolute">
+      <origin
+        xyz="0.0099867 0.0098242 -0.0089"
+        rpy="-1.5708 0 0.16939" />
+      <parent
+        link="L_thumb_proximal_base" />
+      <child
+        link="L_thumb_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0.0"
+        upper="0.5"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_thumb_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0095531 0.0016282 -0.0072002"
+          rpy="0 0 0" />
+        <mass
+          value="0.0037844" />
+        <inertia
+          ixx="3.6981E-07"
+          ixy="9.8603E-08"
+          ixz="-2.8173E-12"
+          iyy="3.2395E-07"
+          iyz="-2.8028E-12"
+          izz="4.6532E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link13_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link13_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="0.04407 -0.034553 -0.0008"
+        rpy="0 0 0" />
+      <parent
+        link="L_thumb_proximal" />
+      <child
+        link="L_thumb_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="0.8"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_thumb_proximal_pitch_joint"
+        multiplier="1.6"
+        offset="0" />
+    </joint>
+
+    <link name="L_thumb_distal">
+      <inertial>
+        <origin
+          xyz="0.0092888 -0.004953 -0.0060033"
+          rpy="0 0 0" />
+        <mass
+          value="0.003344" />
+        <inertia
+          ixx="1.3632E-07"
+          ixy="5.6787E-08"
+          ixz="-9.1939E-11"
+          iyy="1.4052E-07"
+          iyz="1.2145E-10"
+          izz="2.0026E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link14_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link14_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_thumb_distal_joint"
+      type="revolute">
+      <origin
+        xyz="0.020248 -0.010156 -0.0012"
+        rpy="0 0 0" />
+      <parent
+        link="L_thumb_intermediate" />
+      <child
+        link="L_thumb_distal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.2"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_thumb_proximal_pitch_joint"
+        multiplier="2.4"
+        offset="0" />
+    </joint>
+
+    <link name="L_index_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059998"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="1.3746E-12"
+          iyy="2.1167E-07"
+          iyz="-1.4773E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link15_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link15_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="L_thumb_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="L_thumb_tip_joint" type="fixed">
+    <parent link="L_thumb_distal"/>
+    <child link="L_thumb_tip"/>
+    <origin rpy="0 0 0" xyz="0.015 -0.013 -0.004"/>
+  </joint>
+
+    <joint
+      name="L_index_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.13653 0.032268"
+        rpy="-0.034907 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_index_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_index_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0021753 -0.019567 -0.005"
+          rpy="0 0 0" />
+        <mass
+          value="0.0045682" />
+        <inertia
+          ixx="7.6284E-07"
+          ixy="-8.063E-08"
+          ixz="3.6797E-13"
+          iyy="9.4308E-08"
+          iyz="1.5743E-13"
+          izz="7.8176E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link16_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link16_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_index_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_index_proximal" />
+      <child
+        link="L_index_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_index_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+
+    <link name="L_index_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="L_index_tip_joint" type="fixed">
+    <parent link="L_index_intermediate"/>
+    <child link="L_index_tip"/>
+    <origin rpy="0 0 0" xyz="-0.005 -0.04 -0.004"/>
+  </joint>
+
+    <link name="L_middle_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="1.2299E-12"
+          iyy="2.1167E-07"
+          iyz="-1.4484E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link17_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link17_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_middle_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.1371 0.01295"
+        rpy="0 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_middle_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_middle_intermediate">
+      <inertial>
+        <origin
+          xyz="0.001921 -0.020796 -0.0049999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0050397" />
+        <inertia
+          ixx="9.5823E-07"
+          ixy="-1.1425E-07"
+          ixz="-2.4186E-12"
+          iyy="1.0646E-07"
+          iyz="3.6974E-12"
+          izz="9.8385E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link18_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link18_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+    
+    <joint
+      name="L_middle_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_middle_proximal" />
+      <child
+        link="L_middle_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_middle_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+
+    <link name="L_middle_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="L_middle_tip_joint" type="fixed">
+    <parent link="L_middle_intermediate"/>
+    <child link="L_middle_tip"/>
+    <origin rpy="0 0 0" xyz="-0.005 -0.045 -0.004"/>
+  </joint>
+
+    <link name="L_ring_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="9.6052E-13"
+          iyy="2.1167E-07"
+          iyz="-1.4124E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link19_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link19_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_ring_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.13691 -0.0062872"
+        rpy="0.05236 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_ring_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_ring_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0021753 -0.019567 -0.005"
+          rpy="0 0 0" />
+        <mass
+          value="0.0045682" />
+        <inertia
+          ixx="7.6285E-07"
+          ixy="-8.0631E-08"
+          ixz="3.3472E-14"
+          iyy="9.4308E-08"
+          iyz="-4.4773E-13"
+          izz="7.8176E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link20_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link20_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_ring_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_ring_proximal" />
+      <child
+        link="L_ring_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_ring_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+
+    <link name="L_ring_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="L_ring_tip_joint" type="fixed">
+    <parent link="L_ring_intermediate"/>
+    <child link="L_ring_tip"/>
+    <origin rpy="0 0 0" xyz="-0.002 -0.04 -0.004"/>
+  </joint>
+
+    <link name="L_pinky_proximal">
+      <inertial>
+        <origin
+          xyz="0.0012971 -0.011934 -0.0059999"
+          rpy="0 0 0" />
+        <mass
+          value="0.0042405" />
+        <inertia
+          ixx="6.6215E-07"
+          ixy="1.8442E-08"
+          ixz="1.0279E-12"
+          iyy="2.1167E-07"
+          iyz="-1.4277E-11"
+          izz="6.9402E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link21_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link21_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_pinky_proximal_joint"
+      type="revolute">
+      <origin
+        xyz="0.00028533 -0.13571 -0.025488"
+        rpy="0.10472 0 0" />
+      <parent
+        link="L_hand_base_link" />
+      <child
+        link="L_pinky_proximal" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+    </joint>
+
+    <link name="L_pinky_intermediate">
+      <inertial>
+        <origin
+          xyz="0.0024788 -0.016208 -0.0050001"
+          rpy="0 0 0" />
+        <mass
+          value="0.0036036" />
+        <inertia
+          ixx="4.3923E-07"
+          ixy="-4.1355E-08"
+          ixz="1.2263E-12"
+          iyy="7.0315E-08"
+          iyz="3.1311E-12"
+          izz="4.4881E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link22_L.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh filename="./meshes/Link22_L.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="L_pinky_intermediate_joint"
+      type="revolute">
+      <origin
+        xyz="-0.0024229 -0.032041 -0.001"
+        rpy="0 0 0" />
+      <parent
+        link="L_pinky_proximal" />
+      <child
+        link="L_pinky_intermediate" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1.7"
+        effort="1"
+        velocity="0.5" />
+      <mimic 
+        joint="L_pinky_proximal_joint"
+        multiplier="1"
+        offset="0" />
+    </joint>
+
+    <link name="L_pinky_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="L_pinky_tip_joint" type="fixed">
+    <parent link="L_pinky_intermediate"/>
+    <child link="L_pinky_tip"/>
+    <origin rpy="0 0 0" xyz="-0.002 -0.032 -0.004"/>
+  </joint>
+
+</robot>

robots/gr1/inspire_hand/inspire_hand_left.yml

@@ -0,0 +1,19 @@
+type: vector
+urdf_path: inspire_hand_left.urdf
+wrist_link_name: "L_hand_base_link"
+
+
+# Target refers to the retargeting target, which is the robot hand
+target_joint_names: null
+target_origin_link_names: [ "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link", "L_hand_base_link" ]
+target_task_link_names: [ "L_thumb_tip", "L_index_tip", "L_middle_tip", "L_ring_tip", "L_pinky_tip" ]
+scaling_factor: 1.1
+
+# Source refers to the retargeting input, which usually corresponds to the human hand
+# The joint indices of human hand joint which corresponds to each link in the target_link_names
+target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]
+
+# A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+low_pass_alpha: 0.5
+
+# ignore_mimic_joint: True

robots/gr1/inspire_hand/inspire_hand_left/inspire_hand_left.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f5c22f6aa01ababe54eecfe4a3b06ebbe50ac33c104b733663ad3defe168e92
+size 8170968

robots/gr1/inspire_hand/inspire_hand_right.urdf

@@ -0,0 +1,830 @@
+<robot
+  name="h1">
+
+  <mujoco>
+    <compiler meshdir="./meshes" discardvisual="false" />
+  </mujoco>
+
+
+  <!-- [CAUTION] uncomment when convert to mujoco -->
+  <!-- <link name="world"></link>
+  <joint name="floating_base_joint" type="floating">
+    <parent link="world" />
+    <child link="pelvis" />
+  </joint> -->
+
+  <link name="R_hand_base_link">
+    <inertial>
+      <origin
+        xyz="-0.0025264 -0.066047 0.0019598"
+        rpy="0 0 0" />
+      <mass
+        value="0.14143" />
+      <inertia
+        ixx="0.00012281"
+        ixy="2.1711E-06"
+        ixz="1.7709E-06"
+        iyy="8.3832E-05"
+        iyz="-1.6551E-06"
+        izz="7.6663E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/R_hand_base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/R_hand_base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="R_thumb_proximal_base">
+    <inertial>
+      <origin
+        xyz="-0.0048064 0.0009382 -0.00757"
+        rpy="0 0 0" />
+      <mass
+        value="0.0018869" />
+      <inertia
+        ixx="5.816E-08"
+        ixy="1.4539E-08"
+        ixz="4.491E-09"
+        iyy="7.9161E-08"
+        iyz="-1.8727E-09"
+        izz="6.7433E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link11_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link11_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_proximal_yaw_joint"
+    type="revolute">
+    <origin
+      xyz="-0.01696 -0.0691 -0.02045"
+      rpy="1.5708 -1.5708 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_thumb_proximal_base" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.1"
+      upper="1.3"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_thumb_proximal">
+    <inertial>
+      <origin
+        xyz="0.021932 0.012785 -0.0080386"
+        rpy="0 0 0" />
+      <mass
+        value="0.0066075" />
+      <inertia
+        ixx="1.5686E-06"
+        ixy="-7.8296E-07"
+        ixz="8.9143E-10"
+        iyy="1.7353E-06"
+        iyz="-1.0191E-09"
+        izz="2.786E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link12_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link12_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_proximal_pitch_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0088099 0.010892 -0.00925"
+      rpy="1.5708 0 2.8587" />
+    <parent
+      link="R_thumb_proximal_base" />
+    <child
+      link="R_thumb_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0.0"
+      upper="0.5"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_thumb_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0095544 -0.0016282 -0.0071997"
+        rpy="0 0 0" />
+      <mass
+        value="0.0037847" />
+      <inertia
+        ixx="3.6981E-07"
+        ixy="-9.8581E-08"
+        ixz="-4.7469E-12"
+        iyy="3.2394E-07"
+        iyz="1.0939E-12"
+        izz="4.6531E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link13_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link13_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="0.04407 0.034553 -0.0008"
+      rpy="0 0 0" />
+    <parent
+      link="R_thumb_proximal" />
+    <child
+      link="R_thumb_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.8"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_thumb_proximal_pitch_joint"
+      multiplier="1.6"
+      offset="0" />
+  </joint>
+
+  <link name="R_thumb_distal">
+    <inertial>
+      <origin
+        xyz="0.0092888 0.0049529 -0.0060033"
+        rpy="0 0 0" />
+      <mass
+        value="0.0033441" />
+      <inertia
+        ixx="1.3632E-07"
+        ixy="-5.6788E-08"
+        ixz="-9.2764E-11"
+        iyy="1.4052E-07"
+        iyz="-1.2283E-10"
+        izz="2.0026E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link14_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link14_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_thumb_distal_joint"
+    type="revolute">
+    <origin
+      xyz="0.020248 0.010156 -0.0012"
+      rpy="0 0 0" />
+    <parent
+      link="R_thumb_intermediate" />
+    <child
+      link="R_thumb_distal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.2"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_thumb_proximal_pitch_joint"
+      multiplier="2.4"
+      offset="0" />
+  </joint>
+
+  <link name="R_thumb_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="R_thumb_tip_joint" type="fixed">
+    <parent link="R_thumb_distal"/>
+    <child link="R_thumb_tip"/>
+    <origin rpy="0 0 0" xyz="0.015 0.013 -0.004"/>
+  </joint>
+
+  <link name="R_index_proximal">
+    <inertial>
+      <origin
+        xyz="0.0012259 0.011942 -0.0060001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6232E-07"
+        ixy="-1.5775E-08"
+        ixz="1.8515E-12"
+        iyy="2.1146E-07"
+        iyz="-5.0828E-12"
+        izz="6.9398E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link15_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link15_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_index_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.13653 -0.032268"
+      rpy="-3.1067 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_index_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_index_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0019697 0.019589 -0.005"
+        rpy="0 0 0" />
+      <mass
+        value="0.0045683" />
+      <inertia
+        ixx="7.6111E-07"
+        ixy="8.7637E-08"
+        ixz="-3.7751E-13"
+        iyy="9.6076E-08"
+        iyz="9.9444E-13"
+        izz="7.8179E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link16_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link16_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_index_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0026138 0.032026 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_index_proximal" />
+    <child
+      link="R_index_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_index_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link name="R_index_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="R_index_tip_joint" type="fixed">
+    <parent link="R_index_intermediate"/>
+    <child link="R_index_tip"/>
+    <origin rpy="0 0 0" xyz="-0.005 0.04 -0.004"/>
+  </joint>
+
+  <link name="R_middle_proximal">
+    <inertial>
+      <origin
+        xyz="0.001297 0.011934 -0.0060001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6211E-07"
+        ixy="-1.8461E-08"
+        ixz="1.8002E-12"
+        iyy="2.1167E-07"
+        iyz="-6.6808E-12"
+        izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link17_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link17_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_middle_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.1371 -0.01295"
+      rpy="-3.1416 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_middle_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_middle_intermediate">
+    <inertial>
+      <origin
+        xyz="0.001921 0.020796 -0.005"
+        rpy="0 0 0" />
+      <mass
+        value="0.0050396" />
+      <inertia
+        ixx="9.5822E-07"
+        ixy="1.1425E-07"
+        ixz="-2.4791E-12"
+        iyy="1.0646E-07"
+        iyz="5.9173E-12"
+        izz="9.8384E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link18_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link18_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_middle_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0024229 0.032041 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_middle_proximal" />
+    <child
+      link="R_middle_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_middle_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link name="R_middle_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="R_middle_tip_joint" type="fixed">
+    <parent link="R_middle_intermediate"/>
+    <child link="R_middle_tip"/>
+    <origin rpy="0 0 0" xyz="-0.005 0.045 -0.004"/>
+  </joint>
+
+  <link name="R_ring_proximal">
+    <inertial>
+      <origin
+        xyz="0.001297 0.011934 -0.0060002"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6211E-07"
+        ixy="-1.8461E-08"
+        ixz="1.5793E-12"
+        iyy="2.1167E-07"
+        iyz="-6.6868E-12"
+        izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link19_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link19_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_ring_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.13691 0.0062872"
+      rpy="3.0892 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_ring_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_ring_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0021753 0.019567 -0.005"
+        rpy="0 0 0" />
+      <mass
+        value="0.0045683" />
+      <inertia
+        ixx="7.6286E-07"
+        ixy="8.0635E-08"
+        ixz="-6.1562E-13"
+        iyy="9.431E-08"
+        iyz="5.8619E-13"
+        izz="7.8177E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link20_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link20_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_ring_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0024229 0.032041 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_ring_proximal" />
+    <child
+      link="R_ring_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_ring_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link name="R_ring_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="R_ring_tip_joint" type="fixed">
+    <parent link="R_ring_intermediate"/>
+    <child link="R_ring_tip"/>
+    <origin rpy="0 0 0" xyz="-0.002 0.04 -0.004"/>
+  </joint>
+
+  <link name="R_pinky_proximal">
+    <inertial>
+      <origin
+        xyz="0.001297 0.011934 -0.0060001"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042403" />
+      <inertia
+        ixx="6.6211E-07"
+        ixy="-1.8461E-08"
+        ixz="1.6907E-12"
+        iyy="2.1167E-07"
+        iyz="-6.9334E-12"
+        izz="6.9397E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link21_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link21_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_pinky_proximal_joint"
+    type="revolute">
+    <origin
+      xyz="0.00028533 -0.13571 0.025488"
+      rpy="3.0369 0 0" />
+    <parent
+      link="R_hand_base_link" />
+    <child
+      link="R_pinky_proximal" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+  </joint>
+
+  <link name="R_pinky_intermediate">
+    <inertial>
+      <origin
+        xyz="0.0024748 0.016203 -0.0050031"
+        rpy="0 0 0" />
+      <mass
+        value="0.0035996" />
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+        ixz="3.7168E-11"
+        iyy="7.0247E-08"
+        iyz="5.8613E-11"
+        izz="4.4867E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link22_R.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="./meshes/Link22_R.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="R_pinky_intermediate_joint"
+    type="revolute">
+    <origin
+      xyz="-0.0024229 0.032041 -0.001"
+      rpy="0 0 0" />
+    <parent
+      link="R_pinky_proximal" />
+    <child
+      link="R_pinky_intermediate" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="1.7"
+      effort="1"
+      velocity="0.5" />
+    <mimic 
+      joint="R_pinky_proximal_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link name="R_pinky_tip">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005"/>
+      </geometry>
+      <material name="green">
+        <color rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint name="R_pinky_tip_joint" type="fixed">
+    <parent link="R_pinky_intermediate"/>
+    <child link="R_pinky_tip"/>
+    <origin rpy="0 0 0" xyz="-0.002 0.032 -0.004"/>
+  </joint>
+</robot>

robots/gr1/inspire_hand/inspire_hand_right.yml

@@ -0,0 +1,18 @@
+type: vector
+urdf_path: inspire_hand_right.urdf
+wrist_link_name: "R_hand_base_link"
+
+# Target refers to the retargeting target, which is the robot hand
+target_joint_names: null
+target_origin_link_names: [ "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link", "R_hand_base_link" ]
+target_task_link_names: [ "R_thumb_tip", "R_index_tip", "R_middle_tip", "R_ring_tip", "R_pinky_tip" ]
+scaling_factor: 1.1
+
+# Source refers to the retargeting input, which usually corresponds to the human hand
+# The joint indices of human hand joint which corresponds to each link in the target_link_names
+target_link_human_indices: [ [ 0, 0, 0, 0, 0 ], [ 4, 9, 14, 19, 24 ] ]
+
+# A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
+low_pass_alpha: 0.5
+
+# ignore_mimic_joint: True

robots/gr1/inspire_hand/meshes/L_hand_base_link.STL

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+version https://git-lfs.github.com/spec/v1
+oid sha256:33ab4e97801bd5421903a78f5977a44e477ae8653eaf32358d35633e465411e0
+size 1448084

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