commit f525985ff6391bac85bce1fb5783da35911cc732 Author: sunxianghui Date: Thu Sep 3 11:41:27 2026 +0800 Add Linkerbot URDF models for O6, G20/L20, and L6 hands. diff --git a/06/LEFT/linkerhand_o6_left_test.urdf b/06/LEFT/linkerhand_o6_left_test.urdf new file mode 100644 index 0000000..c8215e9 --- /dev/null +++ b/06/LEFT/linkerhand_o6_left_test.urdf @@ -0,0 +1,666 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/06/LEFT/meshes/hand_base_link.STL b/06/LEFT/meshes/hand_base_link.STL new file mode 100644 index 0000000..b7ab0c1 Binary files /dev/null and b/06/LEFT/meshes/hand_base_link.STL differ diff --git a/06/LEFT/meshes/index_distal.STL b/06/LEFT/meshes/index_distal.STL new file mode 100644 index 0000000..db30679 Binary files /dev/null and b/06/LEFT/meshes/index_distal.STL differ diff --git a/06/LEFT/meshes/index_proximal.STL b/06/LEFT/meshes/index_proximal.STL new file mode 100644 index 0000000..f427e3c Binary files /dev/null and b/06/LEFT/meshes/index_proximal.STL differ diff --git a/06/LEFT/meshes/middle_distal.STL b/06/LEFT/meshes/middle_distal.STL new file mode 100644 index 0000000..a4838a5 Binary files /dev/null and b/06/LEFT/meshes/middle_distal.STL differ diff --git a/06/LEFT/meshes/middle_proximal.STL b/06/LEFT/meshes/middle_proximal.STL new file mode 100644 index 0000000..e8d4268 Binary files /dev/null and b/06/LEFT/meshes/middle_proximal.STL differ diff --git a/06/LEFT/meshes/pinky_distal.STL b/06/LEFT/meshes/pinky_distal.STL new file mode 100644 index 0000000..abcb9c0 Binary files /dev/null and b/06/LEFT/meshes/pinky_distal.STL differ diff --git a/06/LEFT/meshes/pinky_proximal.STL b/06/LEFT/meshes/pinky_proximal.STL new file mode 100644 index 0000000..5f013e6 Binary files /dev/null and b/06/LEFT/meshes/pinky_proximal.STL differ diff --git a/06/LEFT/meshes/ring_distal.STL b/06/LEFT/meshes/ring_distal.STL new file mode 100644 index 0000000..b8247b1 Binary files /dev/null and b/06/LEFT/meshes/ring_distal.STL differ diff --git a/06/LEFT/meshes/ring_proximal.STL b/06/LEFT/meshes/ring_proximal.STL new file mode 100644 index 0000000..7c47ff6 Binary files /dev/null and b/06/LEFT/meshes/ring_proximal.STL differ diff --git a/06/LEFT/meshes/thumb_distal.STL b/06/LEFT/meshes/thumb_distal.STL new file mode 100644 index 0000000..19eee73 Binary files /dev/null and b/06/LEFT/meshes/thumb_distal.STL differ diff --git a/06/LEFT/meshes/thumb_metacarpals.STL b/06/LEFT/meshes/thumb_metacarpals.STL new file mode 100644 index 0000000..9f1ab59 Binary files /dev/null and b/06/LEFT/meshes/thumb_metacarpals.STL differ diff --git a/06/LEFT/meshes/thumb_metacarpals_base2.STL b/06/LEFT/meshes/thumb_metacarpals_base2.STL new file mode 100644 index 0000000..5e66834 Binary files /dev/null and b/06/LEFT/meshes/thumb_metacarpals_base2.STL differ diff --git a/06/RIGHT/linkerhand_o6_right.urdf b/06/RIGHT/linkerhand_o6_right.urdf new file mode 100644 index 0000000..cde68ba --- /dev/null +++ b/06/RIGHT/linkerhand_o6_right.urdf @@ -0,0 +1,664 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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index 0000000..1582dfe Binary files /dev/null and b/06/RIGHT/meshes/middle_distal.STL differ diff --git a/06/RIGHT/meshes/middle_proximal.STL b/06/RIGHT/meshes/middle_proximal.STL new file mode 100644 index 0000000..2a46d3f Binary files /dev/null and b/06/RIGHT/meshes/middle_proximal.STL differ diff --git a/06/RIGHT/meshes/pinky_distal.STL b/06/RIGHT/meshes/pinky_distal.STL new file mode 100644 index 0000000..581901e Binary files /dev/null and b/06/RIGHT/meshes/pinky_distal.STL differ diff --git a/06/RIGHT/meshes/pinky_proximal.STL b/06/RIGHT/meshes/pinky_proximal.STL new file mode 100644 index 0000000..b0326b3 Binary files /dev/null and b/06/RIGHT/meshes/pinky_proximal.STL differ diff --git a/06/RIGHT/meshes/ring_distal.STL b/06/RIGHT/meshes/ring_distal.STL new file mode 100644 index 0000000..1c2830a Binary files /dev/null and b/06/RIGHT/meshes/ring_distal.STL differ diff --git a/06/RIGHT/meshes/ring_proximal.STL b/06/RIGHT/meshes/ring_proximal.STL new file mode 100644 index 0000000..b98a3db Binary files /dev/null and b/06/RIGHT/meshes/ring_proximal.STL differ diff --git a/06/RIGHT/meshes/thumb_distal.STL b/06/RIGHT/meshes/thumb_distal.STL new file mode 100644 index 0000000..e102dbe Binary files /dev/null and b/06/RIGHT/meshes/thumb_distal.STL differ diff --git a/06/RIGHT/meshes/thumb_metacarpals.STL b/06/RIGHT/meshes/thumb_metacarpals.STL new file mode 100644 index 0000000..df9bccf Binary files /dev/null and b/06/RIGHT/meshes/thumb_metacarpals.STL differ diff --git a/06/RIGHT/meshes/thumb_metacarpals_base2.STL b/06/RIGHT/meshes/thumb_metacarpals_base2.STL new file mode 100644 index 0000000..0546e91 Binary files /dev/null and b/06/RIGHT/meshes/thumb_metacarpals_base2.STL differ diff --git a/L20/LEFT/g20_left_G20.json b/L20/LEFT/g20_left_G20.json new file mode 100644 index 0000000..fd14fdc --- /dev/null +++ b/L20/LEFT/g20_left_G20.json @@ -0,0 +1,5602 @@ +{ + "schema_version": 4, + "model": "G20", + "side": "left", + "serial_number": "G20_LEFT_001", + 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