This repository preserves the unchanged full visual assembly and packages new robot assets for a fresh run using the original model_5200 training framework. The new 6e/8e URDF asset set is incompatible with the historical model_5200.pt checkpoint, which was bound to earlier 2776/f898 assets.
| Model | Use it for | Moving joints |
|---|---|---|
| Full assembly | Bilateral visualization and the original full robot description | 58 |
| Training source | Retargeting and source-side asset binding | 28 |
| Isaac runtime | Reproducing the model5200 Isaac import | 28 |
The training source and runtime URDF are distinct files with their original bytes preserved. The runtime URDF removes five empty fixed tip links for importer compatibility; their sensor frames remain documented in runtime derivation. The training manifest records hashes, mesh closure, geometry counts, mount height, and simulation overrides.
Install dependencies and run:
python3 -m pip install -r requirements.txt
./viewers/view_assembly.sh --model full
./viewers/view_assembly.sh --model training
python3 -m unittest discover -s tests -vThe training viewer sets joint positions directly and calls MuJoCo mj_forward for forward kinematics; it does not step dynamics. The frame contract fixes the tabletop to physical-base gap at 0.45 m.
The package records a model and preview configuration. It does not certify trajectory clearance, dynamics, task success, hardware operation, or hardware limits. The hand importer overrides are 6.28 rad/s velocity, 0.35 Nm effort, and PD gains 3/0.1. They apply to the Revo3 hand only and are not hardware limits. The 1 kg world importer mass is separate from the 1.105000027 kg total mass of the 22 Revo3 hand bodies before startup DR. See third-party notices.