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Robot Fixtures

Robot description fixtures and supporting meshes for URDF, SRDF, STEP, STL, and CAD Viewer workflows.

Directory Map

  • elrobot/: ELRobot follower URDF/SRDF plus STL meshes.
  • lekiwi/: LeKiwi URDF/SRDF plus STL meshes for mobile-base and arm parts.
  • lyra/: authored dexterous humanoid-hand source (16 DOF), generated STEP/URDF/SRDF outputs, per-link 3MF meshes, and a CAD Viewer pose animation sidecar.
  • openarm/: OpenArm bimanual URDF/SRDF fixture.
  • so101/: SO-101 URDF/SRDF plus STL meshes.
  • tom/: authored text-to-cad robot arm source, generated STEP/URDF outputs, STL exports, gripper parts, and sheet-metal DXF fixtures.

Conventions

  • Keep URDF/SRDF text files readable in normal Git.
  • Keep mesh, STEP, STL, DXF, and render sidecar artifacts in Git LFS.
  • Do not commit simulator cache directories, generated preview media, local package-resolution experiments, or printer credentials.

For TOM-specific generated CAD sources, keep Python generators near their corresponding STEP output so the fixture remains inspectable without a separate source tree.