Models hub

The antropomorphic hand model for the project.

Environment configuration

Dependencies are installed by environment.yml

conda env create -f environment.yml
conda activate DIP-Flex_env

Models

The project has 1 model for closed-chained underactuatied fingers mechanism and 4 models with open-chained models. 2 scripts are added for the quick start.

+-- DIP-FLEX
    |+-- closed_chain
        |+-- assets
        |+-- DIP-Flex_closed_kinematics.xml # Underactuated five-bar spring-loaded mechanism
        |+-- run closed chain.ipynb # Quick start script
    |+-- opened_chain
        |+-- assets
        |+-- DIP-Flex.urdf # Oginal URDF model
        |+-- DIP-Flex_opened_kinematics.xml # Model without underactuations
        |+-- DIP-Flex_opened_kinematics_primitive.xml **(WIP)** # Model for faster collision simulation
        |+-- DIP-Flex_opened_kinematics_primitive_and_mesh.xml **(WIP)** # Model for faster collision simulation + original meshes for comparison
        |+-- run opened chain.ipynb # Quick start script

The closed-chain kinematics is the primary hand model ("DIP-Flex_closed_kinematics.xml" at left), utilizing an underactuated five-bar spring-loaded mechanism.

The open-chain kinematics model ("DIP-Flex_opened_kinematics.xml" at right) is provided to enable control without underactuation.

The open-chain kinematics model ("DIP-Flex_opened_kinematics_primitive.xml" at left), which replaces meshes with primitives, allows for faster hand collision simulation.

For comparison, a model containing both primitives and meshes ("DIP-Flex_opened_kinematics_primitive_and_mesh.xml" at right) is also provided.