init

2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
1633 changed files with 289456 additions and 0 deletions
--- a/robonaut/materials/textures/BrushedMetalGray.png
+++ b/robonaut/materials/textures/BrushedMetalGray.png
--- a/robonaut/materials/textures/Left_PalmSnap00.png
+++ b/robonaut/materials/textures/Left_PalmSnap00.png
--- a/robonaut/materials/textures/R2_Arm.png
+++ b/robonaut/materials/textures/R2_Arm.png
--- a/robonaut/materials/textures/R2_Body_Cover.png
+++ b/robonaut/materials/textures/R2_Body_Cover.png
--- a/robonaut/materials/textures/R2_Leg.png
+++ b/robonaut/materials/textures/R2_Leg.png
--- a/robonaut/materials/textures/R2_Stanchion_10_Col_256.png
+++ b/robonaut/materials/textures/R2_Stanchion_10_Col_256.png
--- a/robonaut/materials/textures/R2_Stanchion_11_Col_256.png
+++ b/robonaut/materials/textures/R2_Stanchion_11_Col_256.png
--- a/robonaut/materials/textures/R2_Stanchion_12_Col_256.png
+++ b/robonaut/materials/textures/R2_Stanchion_12_Col_256.png
--- a/robonaut/materials/textures/R2_Stanchion_2_Col_256.png
+++ b/robonaut/materials/textures/R2_Stanchion_2_Col_256.png
--- a/robonaut/materials/textures/R2_Stanchion_3_Col_256.png
+++ b/robonaut/materials/textures/R2_Stanchion_3_Col_256.png
--- a/robonaut/materials/textures/R2_Stanchion_4_Col_256.png
+++ b/robonaut/materials/textures/R2_Stanchion_4_Col_256.png
--- a/robonaut/materials/textures/R2_Stanchion_5_Col_256.png
+++ b/robonaut/materials/textures/R2_Stanchion_5_Col_256.png
--- a/robonaut/materials/textures/R2_Stanchion_6_Col_256.png
+++ b/robonaut/materials/textures/R2_Stanchion_6_Col_256.png
--- a/robonaut/materials/textures/R2_Stanchion_7_Col_256.png
+++ b/robonaut/materials/textures/R2_Stanchion_7_Col_256.png
--- a/robonaut/materials/textures/R2_Stanchion_8_Col_256.png
+++ b/robonaut/materials/textures/R2_Stanchion_8_Col_256.png
--- a/robonaut/materials/textures/R2_Stanchion_9_Col_256.png
+++ b/robonaut/materials/textures/R2_Stanchion_9_Col_256.png
--- a/robonaut/materials/textures/R2_Stanchion_Col_512_Proj.png
+++ b/robonaut/materials/textures/R2_Stanchion_Col_512_Proj.png
--- a/robonaut/materials/textures/R2_Stanchion_Cover_1_Col_256.png
+++ b/robonaut/materials/textures/R2_Stanchion_Cover_1_Col_256.png
--- a/robonaut/materials/textures/R2_Stanchion_Cover_2_Col_256.png
+++ b/robonaut/materials/textures/R2_Stanchion_Cover_2_Col_256.png
--- a/robonaut/materials/textures/R2_Stanchion_Cover_3_Col_256.png
+++ b/robonaut/materials/textures/R2_Stanchion_Cover_3_Col_256.png
--- a/robonaut/materials/textures/R2_Stanchion_Cover_4_Col_256.png
+++ b/robonaut/materials/textures/R2_Stanchion_Cover_4_Col_256.png
--- a/robonaut/materials/textures/R2_backpack.png
+++ b/robonaut/materials/textures/R2_backpack.png
--- a/robonaut/materials/textures/StanchionBaseplate.png
+++ b/robonaut/materials/textures/StanchionBaseplate.png
--- a/robonaut/materials/textures/StanchionDovetail.png
+++ b/robonaut/materials/textures/StanchionDovetail.png
--- a/robonaut/materials/textures/StanchionKnob.png
+++ b/robonaut/materials/textures/StanchionKnob.png
--- a/robonaut/materials/textures/gold.png
+++ b/robonaut/materials/textures/gold.png
--- a/robonaut/materials/textures/gold_texture.png
+++ b/robonaut/materials/textures/gold_texture.png
--- a/robonaut/materials/textures/gold_texture_old.png
+++ b/robonaut/materials/textures/gold_texture_old.png
--- a/robonaut/materials/textures/helmet_back.png
+++ b/robonaut/materials/textures/helmet_back.png
--- a/robonaut/materials/textures/helmet_front.png
+++ b/robonaut/materials/textures/helmet_front.png
--- a/robonaut/materials/textures/jaws.png
+++ b/robonaut/materials/textures/jaws.png
--- a/robonaut/materials/textures/light_shield.png
+++ b/robonaut/materials/textures/light_shield.png
--- a/robonaut/materials/textures/notexture.png
+++ b/robonaut/materials/textures/notexture.png
--- a/robonaut/materials/textures/visor.png
+++ b/robonaut/materials/textures/visor.png
--- a/robonaut/meshes/Backpack.dae
+++ b/robonaut/meshes/Backpack.dae
--- a/robonaut/meshes/Body.dae
+++ b/robonaut/meshes/Body.dae
--- a/robonaut/meshes/Body_Cover.dae
+++ b/robonaut/meshes/Body_Cover.dae
--- a/robonaut/meshes/Finger_Dist.dae
+++ b/robonaut/meshes/Finger_Dist.dae
--- a/robonaut/meshes/Finger_Mid.dae
+++ b/robonaut/meshes/Finger_Mid.dae
--- a/robonaut/meshes/Finger_Proximal.dae
+++ b/robonaut/meshes/Finger_Proximal.dae
--- a/robonaut/meshes/Head.dae
+++ b/robonaut/meshes/Head.dae
--- a/robonaut/meshes/Left_Elbow.dae
+++ b/robonaut/meshes/Left_Elbow.dae
--- a/robonaut/meshes/Left_Forearm.dae
+++ b/robonaut/meshes/Left_Forearm.dae
--- a/robonaut/meshes/Left_Palm.dae
+++ b/robonaut/meshes/Left_Palm.dae
--- a/robonaut/meshes/Left_Shoulder_Lower.dae
+++ b/robonaut/meshes/Left_Shoulder_Lower.dae
--- a/robonaut/meshes/Left_Shoulder_Upper.dae
+++ b/robonaut/meshes/Left_Shoulder_Upper.dae
--- a/robonaut/meshes/Left_Thumb_Carp.dae
+++ b/robonaut/meshes/Left_Thumb_Carp.dae
--- a/robonaut/meshes/Left_Thumb_MtCar.dae
+++ b/robonaut/meshes/Left_Thumb_MtCar.dae
--- a/robonaut/meshes/Left_Upper_Arm.dae
+++ b/robonaut/meshes/Left_Upper_Arm.dae
--- a/robonaut/meshes/Neck_Lower.dae
+++ b/robonaut/meshes/Neck_Lower.dae
--- a/robonaut/meshes/Neck_Upper.dae
+++ b/robonaut/meshes/Neck_Upper.dae
--- a/robonaut/meshes/Right_Elbow.dae
+++ b/robonaut/meshes/Right_Elbow.dae
--- a/robonaut/meshes/Right_Forearm.dae
+++ b/robonaut/meshes/Right_Forearm.dae
--- a/robonaut/meshes/Right_Palm.dae
+++ b/robonaut/meshes/Right_Palm.dae
--- a/robonaut/meshes/Right_Shoulder_Lower.dae
+++ b/robonaut/meshes/Right_Shoulder_Lower.dae
--- a/robonaut/meshes/Right_Shoulder_Upper.dae
+++ b/robonaut/meshes/Right_Shoulder_Upper.dae
--- a/robonaut/meshes/Right_Thumb_MtCar.dae
+++ b/robonaut/meshes/Right_Thumb_MtCar.dae
--- a/robonaut/meshes/Right_Upper_Arm.dae
+++ b/robonaut/meshes/Right_Upper_Arm.dae
--- a/robonaut/meshes/Stanchion.dae
+++ b/robonaut/meshes/Stanchion.dae
--- a/robonaut/meshes/Stanchion_Baseplate.dae
+++ b/robonaut/meshes/Stanchion_Baseplate.dae
--- a/robonaut/meshes/Thumb_Dist.dae
+++ b/robonaut/meshes/Thumb_Dist.dae
--- a/robonaut/meshes/Thumb_Proximal.dae
+++ b/robonaut/meshes/Thumb_Proximal.dae
--- a/robonaut/meshes/Transforms.txt
+++ b/robonaut/meshes/Transforms.txt
@@ -0,0 +1,50 @@
+RJ1 to RJ2
+-0.766044 0.000000 0.642788 0.000000
+0.642788 0.000000 0.766044 0.000000
+-0.000000 1.000000 -0.000000 11.493000
+
+RJ2 to RJ3
+0.000000 0.000000 1.000000 4.000000
+0.342020 0.939693 -0.000000 -0.000000
+-0.939693 0.342020 0.000000 -0.000000
+
+RJ3 to RJ4
+0.819152 0.573576 0.000000 2.100000
+-0.000000 0.000000 -1.000000 -0.100000
+-0.573576 0.819152 0.000000 10.050000
+
+Rj4 to rj5
+-0.000000 -0.000000 1.000000 3.950000
+-0.087156 0.996195 0.000000 2.100000
+-0.996195 -0.087156 -0.000000 0.000000
+
+
+Lj1 to Lj2
+ -1.000000 0.000000 -0.000000 -0.000000
+-0.000000 0.000000 1.000000 -0.000000
+0.000000 1.000000 -0.000000 8.930000
+
+Lj2 to lj3
+-0.000000 -0.000000 1.000000 4.000000
+0.342020 -0.939693 -0.000000 -0.000000
+0.939693 0.342020 0.000000 -0.000000
+
+lj3 to lj4
+0.819152 0.573576 0.000000 2.100000
+-0.000000 0.000000 -1.000000 0.000000
+-0.573576 0.819152 0.000000 10.050000
+
+lj4 to lj5
+0.000000 0.000000 1.000000 3.950000
+-0.087156 -0.996195 0.000000 2.100000
+0.996195 -0.087156 -0.000000 0.000000
+
+nj1 to nj2
+0.000000 0.000000 1.000000 3.050000
+-0.000000 -1.000000 0.000000 3.000000
+1.000000 -0.000000 -0.000000 -0.000000
+
+nj2 to nj3
+0.000000 1.000000 -0.000000 -0.000000
+-0.999391 0.000000 -0.034899 2.000000
+-0.034899 0.000000 0.999391 3.950000
--- a/robonaut/model-1_4.sdf
+++ b/robonaut/model-1_4.sdf
--- a/robonaut/model.config
+++ b/robonaut/model.config
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Robonaut</name>
+  <version>1.0</version>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Ian Chen</name>
+    <email>ichen@osrfoundation.org</email>
+  </author>
+
+  <description>
+    Robonaut 2
+  </description>
+</model>
--- a/robonaut/model.sdf
+++ b/robonaut/model.sdf