Skip to content

Rename *.STL to *.stl in fourier_n1. #185

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 1 commit into from
Jun 17, 2025
Merged

Rename *.STL to *.stl in fourier_n1. #185

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
441 changes: 441 additions & 0 deletions LICENSE
View file
Open in desktop

Large diffs are not rendered by default.

3 changes: 2 additions & 1 deletion fourier_n1/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,13 +23,14 @@ It is derived from the
## MJCF derivation steps

1. Started from `N1_raw.urdf` in [Fourier N1 URDF Description](https://github.com/FFTAI/Wiki-GRx-Models).
- File SHA: `8456575a522676db6b7d0924eccfc61e4c4123cc`
- Commit: `f29a87905bdcfc32fdac9c5342644630fd27156a`
2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
3. Manually edited the MJCF to extract common properties into the `<default>` section.
4. Manually edited the `<asset>` section to include the textures and meshes.
5. Manually added actuators.
6. Manually added sensors.
7. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
8. Renamed all STL files from `*.STL` to `*.stl`.

More information can be found [here](https://github.com/FFTAI/wiki-grx-mjcf).

Expand Down
0 fourier_n1/assets/base_link.STL → fourier_n1/assets/base_link.stl
View file
Open in desktop
File renamed without changes.
0 fourier_n1/assets/camera_link.STL → fourier_n1/assets/camera_link.stl
View file
Open in desktop
File renamed without changes.
0 fourier_n1/assets/imu_link.STL → fourier_n1/assets/imu_link.stl
View file
Open in desktop
File renamed without changes.
0 fourier_n1/assets/left_end_effector_link.STL → fourier_n1/assets/left_end_effector_link.stl
View file
Open in desktop
File renamed without changes.
0 fourier_n1/assets/left_foot_pitch_link.STL → fourier_n1/assets/left_foot_pitch_link.stl
View file
Open in desktop
File renamed without changes.
0 fourier_n1/assets/left_foot_roll_link.STL → fourier_n1/assets/left_foot_roll_link.stl
View file
Open in desktop
File renamed without changes.
0 fourier_n1/assets/left_hand_yaw_link.STL → fourier_n1/assets/left_hand_yaw_link.stl
View file
Open in desktop
File renamed without changes.
0 ...r_n1/assets/left_lower_arm_pitch_link.STL → ...r_n1/assets/left_lower_arm_pitch_link.stl
View file
Open in desktop
File renamed without changes.
0 fourier_n1/assets/left_shank_pitch_link.STL → fourier_n1/assets/left_shank_pitch_link.stl
View file
Open in desktop
File renamed without changes.
0 fourier_n1/assets/left_thigh_pitch_link.STL → fourier_n1/assets/left_thigh_pitch_link.stl
View file
Open in desktop
File renamed without changes.
0 fourier_n1/assets/left_thigh_roll_link.STL → fourier_n1/assets/left_thigh_roll_link.stl
View file
Open in desktop
File renamed without changes.
0 fourier_n1/assets/left_thigh_yaw_link.STL → fourier_n1/assets/left_thigh_yaw_link.stl
View file
Open in desktop
File renamed without changes.
0 ...r_n1/assets/left_upper_arm_pitch_link.STL → ...r_n1/assets/left_upper_arm_pitch_link.stl
View file
Open in desktop
File renamed without changes.
0 ...er_n1/assets/left_upper_arm_roll_link.STL → ...er_n1/assets/left_upper_arm_roll_link.stl
View file
Open in desktop
File renamed without changes.
0 ...ier_n1/assets/left_upper_arm_yaw_link.STL → ...ier_n1/assets/left_upper_arm_yaw_link.stl
View file
Open in desktop
File renamed without changes.
0 ...ier_n1/assets/right_end_effector_link.STL → ...ier_n1/assets/right_end_effector_link.stl
View file
Open in desktop
File renamed without changes.
0 fourier_n1/assets/right_foot_pitch_link.STL → fourier_n1/assets/right_foot_pitch_link.stl
View file
Open in desktop
File renamed without changes.
0 fourier_n1/assets/right_foot_roll_link.STL → fourier_n1/assets/right_foot_roll_link.stl
View file
Open in desktop
File renamed without changes.
0 fourier_n1/assets/right_hand_yaw_link.STL → fourier_n1/assets/right_hand_yaw_link.stl
View file
Open in desktop
File renamed without changes.
0 ..._n1/assets/right_lower_arm_pitch_link.STL → ..._n1/assets/right_lower_arm_pitch_link.stl
View file
Open in desktop
File renamed without changes.
0 fourier_n1/assets/right_shank_pitch_link.STL → fourier_n1/assets/right_shank_pitch_link.stl
View file
Open in desktop
File renamed without changes.
0 fourier_n1/assets/right_thigh_pitch_link.STL → fourier_n1/assets/right_thigh_pitch_link.stl
View file
Open in desktop
File renamed without changes.
0 fourier_n1/assets/right_thigh_roll_link.STL → fourier_n1/assets/right_thigh_roll_link.stl
View file
Open in desktop
File renamed without changes.
0 fourier_n1/assets/right_thigh_yaw_link.STL → fourier_n1/assets/right_thigh_yaw_link.stl
View file
Open in desktop
File renamed without changes.
0 ..._n1/assets/right_upper_arm_pitch_link.STL → ..._n1/assets/right_upper_arm_pitch_link.stl
View file
Open in desktop
File renamed without changes.
0 ...r_n1/assets/right_upper_arm_roll_link.STL → ...r_n1/assets/right_upper_arm_roll_link.stl
View file
Open in desktop
Diff not rendered.
0 ...er_n1/assets/right_upper_arm_yaw_link.STL → ...er_n1/assets/right_upper_arm_yaw_link.stl
View file
Open in desktop
Diff not rendered.
0 fourier_n1/assets/torso_link.STL → fourier_n1/assets/torso_link.stl
View file
Open in desktop
Diff not rendered.
0 fourier_n1/assets/waist_yaw_link.STL → fourier_n1/assets/waist_yaw_link.stl
View file
Open in desktop
Diff not rendered.
58 changes: 29 additions & 29 deletions fourier_n1/n1.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,45 +34,45 @@
</default>

<asset>
<mesh name="base_link" content_type="model/stl" file="base_link.STL"/>
<mesh name="torso_link" content_type="model/stl" file="torso_link.STL"/>
<mesh name="camera_link" content_type="model/stl" file="camera_link.STL"/>
<mesh name="imu_link" content_type="model/stl" file="imu_link.STL"/>
<mesh name="base_link" content_type="model/stl" file="base_link.stl"/>
<mesh name="torso_link" content_type="model/stl" file="torso_link.stl"/>
<mesh name="camera_link" content_type="model/stl" file="camera_link.stl"/>
<mesh name="imu_link" content_type="model/stl" file="imu_link.stl"/>

<!-- left leg -->
<mesh name="left_thigh_pitch_link" content_type="model/stl" file="left_thigh_pitch_link.STL"/>
<mesh name="left_thigh_roll_link" content_type="model/stl" file="left_thigh_roll_link.STL"/>
<mesh name="left_thigh_yaw_link" content_type="model/stl" file="left_thigh_yaw_link.STL"/>
<mesh name="left_shank_pitch_link" content_type="model/stl" file="left_shank_pitch_link.STL"/>
<mesh name="left_foot_roll_link" content_type="model/stl" file="left_foot_roll_link.STL"/>
<mesh name="left_foot_pitch_link" content_type="model/stl" file="left_foot_pitch_link.STL"/>
<mesh name="left_thigh_pitch_link" content_type="model/stl" file="left_thigh_pitch_link.stl"/>
<mesh name="left_thigh_roll_link" content_type="model/stl" file="left_thigh_roll_link.stl"/>
<mesh name="left_thigh_yaw_link" content_type="model/stl" file="left_thigh_yaw_link.stl"/>
<mesh name="left_shank_pitch_link" content_type="model/stl" file="left_shank_pitch_link.stl"/>
<mesh name="left_foot_roll_link" content_type="model/stl" file="left_foot_roll_link.stl"/>
<mesh name="left_foot_pitch_link" content_type="model/stl" file="left_foot_pitch_link.stl"/>

<!-- right leg -->
<mesh name="right_thigh_pitch_link" content_type="model/stl" file="right_thigh_pitch_link.STL"/>
<mesh name="right_thigh_roll_link" content_type="model/stl" file="right_thigh_roll_link.STL"/>
<mesh name="right_thigh_yaw_link" content_type="model/stl" file="right_thigh_yaw_link.STL"/>
<mesh name="right_shank_pitch_link" content_type="model/stl" file="right_shank_pitch_link.STL"/>
<mesh name="right_foot_roll_link" content_type="model/stl" file="right_foot_roll_link.STL"/>
<mesh name="right_foot_pitch_link" content_type="model/stl" file="right_foot_pitch_link.STL"/>
<mesh name="right_thigh_pitch_link" content_type="model/stl" file="right_thigh_pitch_link.stl"/>
<mesh name="right_thigh_roll_link" content_type="model/stl" file="right_thigh_roll_link.stl"/>
<mesh name="right_thigh_yaw_link" content_type="model/stl" file="right_thigh_yaw_link.stl"/>
<mesh name="right_shank_pitch_link" content_type="model/stl" file="right_shank_pitch_link.stl"/>
<mesh name="right_foot_roll_link" content_type="model/stl" file="right_foot_roll_link.stl"/>
<mesh name="right_foot_pitch_link" content_type="model/stl" file="right_foot_pitch_link.stl"/>

<!-- waist -->
<mesh name="waist_yaw_link" content_type="model/stl" file="waist_yaw_link.STL"/>
<mesh name="waist_yaw_link" content_type="model/stl" file="waist_yaw_link.stl"/>

<!-- left arm -->
<mesh name="left_upper_arm_pitch_link" content_type="model/stl" file="left_upper_arm_pitch_link.STL"/>
<mesh name="left_upper_arm_roll_link" content_type="model/stl" file="left_upper_arm_roll_link.STL"/>
<mesh name="left_upper_arm_yaw_link" content_type="model/stl" file="left_upper_arm_yaw_link.STL"/>
<mesh name="left_lower_arm_pitch_link" content_type="model/stl" file="left_lower_arm_pitch_link.STL"/>
<mesh name="left_hand_yaw_link" content_type="model/stl" file="left_hand_yaw_link.STL"/>
<mesh name="left_end_effector_link" content_type="model/stl" file="left_end_effector_link.STL"/>
<mesh name="left_upper_arm_pitch_link" content_type="model/stl" file="left_upper_arm_pitch_link.stl"/>
<mesh name="left_upper_arm_roll_link" content_type="model/stl" file="left_upper_arm_roll_link.stl"/>
<mesh name="left_upper_arm_yaw_link" content_type="model/stl" file="left_upper_arm_yaw_link.stl"/>
<mesh name="left_lower_arm_pitch_link" content_type="model/stl" file="left_lower_arm_pitch_link.stl"/>
<mesh name="left_hand_yaw_link" content_type="model/stl" file="left_hand_yaw_link.stl"/>
<mesh name="left_end_effector_link" content_type="model/stl" file="left_end_effector_link.stl"/>

<!-- right arm -->
<mesh name="right_upper_arm_pitch_link" content_type="model/stl" file="right_upper_arm_pitch_link.STL"/>
<mesh name="right_upper_arm_roll_link" content_type="model/stl" file="right_upper_arm_roll_link.STL"/>
<mesh name="right_upper_arm_yaw_link" content_type="model/stl" file="right_upper_arm_yaw_link.STL"/>
<mesh name="right_lower_arm_pitch_link" content_type="model/stl" file="right_lower_arm_pitch_link.STL"/>
<mesh name="right_hand_yaw_link" content_type="model/stl" file="right_hand_yaw_link.STL"/>
<mesh name="right_end_effector_link" content_type="model/stl" file="right_end_effector_link.STL"/>
<mesh name="right_upper_arm_pitch_link" content_type="model/stl" file="right_upper_arm_pitch_link.stl"/>
<mesh name="right_upper_arm_roll_link" content_type="model/stl" file="right_upper_arm_roll_link.stl"/>
<mesh name="right_upper_arm_yaw_link" content_type="model/stl" file="right_upper_arm_yaw_link.stl"/>
<mesh name="right_lower_arm_pitch_link" content_type="model/stl" file="right_lower_arm_pitch_link.stl"/>
<mesh name="right_hand_yaw_link" content_type="model/stl" file="right_hand_yaw_link.stl"/>
<mesh name="right_end_effector_link" content_type="model/stl" file="right_end_effector_link.stl"/>
</asset>

<worldbody>
Expand Down