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.gitattributes +11 -0
aloha-agilex/urdf/aloha_maniskill_sim/meshes/box2_Link.STL +3 -0
aloha-agilex/urdf/aloha_maniskill_sim/meshes/camera_link1.dae +3 -0
aloha-agilex/urdf/aloha_maniskill_sim/meshes/camera_link2.STL +3 -0
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aloha_new_description/README.MD +3 -0
aloha_new_description/launch/display_aloha.launch +21 -0
aloha_new_description/launch/display_aloha_tracer2_d435.launch +21 -0
aloha_new_description/launch/display_aloha_tracer2_dabai.launch +21 -0
aloha_new_description/launch/display_aloha_v00.launch +21 -0
aloha_new_description/meshes/base_link.dae +0 -0
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aloha_new_description/meshes/piper_slave_meshes/camera_stand.dae +0 -0

.gitattributes CHANGED Viewed

@@ -33,3 +33,14 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text

 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+tracer2_description/meshes/base_link.STL filter=lfs diff=lfs merge=lfs -text
+tracer2_description/meshes/left_front_link.STL filter=lfs diff=lfs merge=lfs -text
+aloha-agilex/urdf/aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae filter=lfs diff=lfs merge=lfs -text
+aloha-agilex/urdf/aloha_maniskill_sim/meshes/camera_link2.dae filter=lfs diff=lfs merge=lfs -text
+aloha-agilex/urdf/aloha_maniskill_sim/meshes/camera_link1.dae filter=lfs diff=lfs merge=lfs -text
+aloha-agilex/urdf/aloha_maniskill_sim/meshes/d435_back.dae filter=lfs diff=lfs merge=lfs -text
+aloha-agilex/urdf/aloha_maniskill_sim/meshes/tracer_base_link.dae filter=lfs diff=lfs merge=lfs -text
+aloha-agilex/urdf/aloha_maniskill_sim/meshes/box2_Link.STL filter=lfs diff=lfs merge=lfs -text
+aloha-agilex/urdf/aloha_maniskill_sim/meshes/d435.dae filter=lfs diff=lfs merge=lfs -text
+aloha-agilex/urdf/aloha_maniskill_sim/meshes/camera_link2.STL filter=lfs diff=lfs merge=lfs -text
+aloha-agilex/urdf/aloha_maniskill_sim/meshes/link3.STL filter=lfs diff=lfs merge=lfs -text

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aloha_new_description/README.MD ADDED Viewed

	@@ -0,0 +1,3 @@


1	+ # 新版aloha的纯urdf
2	+
3	+ 该文件夹仅为urdf说明，不含gazebo等其它仿真

aloha_new_description/launch/display_aloha.launch ADDED Viewed

	@@ -0,0 +1,21 @@

+<launch>
+    <arg
+        name="model" />
+    <arg name="rviz_config" default="$(find aloha_new_description)/rviz/aloha.rviz" />
+    <param
+        name="robot_description"
+        textfile="$(find aloha_new_description)/urdf/aloha_new.urdf" />
+    <node
+        name="joint_state_publisher_gui"
+        pkg="joint_state_publisher_gui"
+        type="joint_state_publisher_gui" />
+    <node
+        name="robot_state_publisher"
+        pkg="robot_state_publisher"
+        type="robot_state_publisher" />
+    <node
+        name="rviz"
+        pkg="rviz"
+        type="rviz"
+        args="-d $(arg rviz_config)" />
+</launch>

aloha_new_description/launch/display_aloha_tracer2_d435.launch ADDED Viewed

	@@ -0,0 +1,21 @@

+<launch>
+    <arg
+        name="model" />
+    <arg name="rviz_config" default="$(find aloha_new_description)/rviz/aloha.rviz" />
+    <param
+        name="robot_description"
+        textfile="$(find aloha_new_description)/urdf/aloha_tracer2_four_d435_dark.urdf" />
+    <node
+        name="joint_state_publisher_gui"
+        pkg="joint_state_publisher_gui"
+        type="joint_state_publisher_gui" />
+    <node
+        name="robot_state_publisher"
+        pkg="robot_state_publisher"
+        type="robot_state_publisher" />
+    <node
+        name="rviz"
+        pkg="rviz"
+        type="rviz"
+        args="-d $(arg rviz_config)" />
+</launch>

aloha_new_description/launch/display_aloha_tracer2_dabai.launch ADDED Viewed

	@@ -0,0 +1,21 @@

+<launch>
+    <arg
+        name="model" />
+    <arg name="rviz_config" default="$(find aloha_new_description)/rviz/aloha.rviz" />
+    <param
+        name="robot_description"
+        textfile="$(find aloha_new_description)/urdf/aloha_tracer2_dabai_dark.urdf" />
+    <node
+        name="joint_state_publisher_gui"
+        pkg="joint_state_publisher_gui"
+        type="joint_state_publisher_gui" />
+    <node
+        name="robot_state_publisher"
+        pkg="robot_state_publisher"
+        type="robot_state_publisher" />
+    <node
+        name="rviz"
+        pkg="rviz"
+        type="rviz"
+        args="-d $(arg rviz_config)" />
+</launch>

aloha_new_description/launch/display_aloha_v00.launch ADDED Viewed

	@@ -0,0 +1,21 @@

+<launch>
+    <arg
+        name="model" />
+    <arg name="rviz_config" default="$(find aloha_new_description)/rviz/aloha.rviz" />
+    <param
+        name="robot_description"
+        textfile="$(find aloha_new_description)/urdf/aloha_new_v00.urdf" />
+    <node
+        name="joint_state_publisher_gui"
+        pkg="joint_state_publisher_gui"
+        type="joint_state_publisher_gui" />
+    <node
+        name="robot_state_publisher"
+        pkg="robot_state_publisher"
+        type="robot_state_publisher" />
+    <node
+        name="rviz"
+        pkg="rviz"
+        type="rviz"
+        args="-d $(arg rviz_config)" />
+</launch>

aloha_new_description/meshes/base_link.dae ADDED Viewed