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flux-3-action-so101-sim

Running on Zero

multimodalart HF Staff commited on 10 days ago

Commit

73899a1

verified ·

1 Parent(s): 8b3425d

Wrist camera upright like the standard SO-101 mount (jaws at the bottom)

Files changed (1) hide show

so101.xml CHANGED Viewed

@@ -64,7 +64,7 @@
                             <geom type="mesh" class="visual" pos="0 -0.028 0.0181" quat="0.5 -0.5 -0.5 -0.5" mesh="wrist_roll_pitch_so101_v2" material="wrist_roll_pitch_so101_v2_material"/>
               <geom type="mesh" class="collision" pos="0 -0.028 0.0181" quat="0.5 -0.5 -0.5 -0.5" mesh="wrist_roll_pitch_so101_v2" material="wrist_roll_pitch_so101_v2_material"/>
                             <body name="gripper" pos="5.55112e-17 -0.0611 0.0181" quat="0.0172091 -0.0172091 0.706897 0.706897">
-<camera name="wrist" pos="0.003 0.066 -0.024" xyaxes="-1 0 0 0 -0.906 0.424" fovy="80"/>
                                 <joint axis="0 0 1" name="wrist_roll" type="hinge" range="-2.7438472969992493 2.841206309382605" class="sts3215"/>
                 <inertial pos="0.000213627 0.000245138 -0.025187" mass="0.087" fullinertia="2.75087e-05 4.33657e-05 3.45059e-05 -3.35241e-07 -5.7352e-06 -5.17847e-08"/>
                                 <geom type="mesh" class="visual" pos="0.0077 0.0001 -0.0234" quat="0.707107 -0.707107 1.66015e-15 6.45094e-15" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>

                             <geom type="mesh" class="visual" pos="0 -0.028 0.0181" quat="0.5 -0.5 -0.5 -0.5" mesh="wrist_roll_pitch_so101_v2" material="wrist_roll_pitch_so101_v2_material"/>
               <geom type="mesh" class="collision" pos="0 -0.028 0.0181" quat="0.5 -0.5 -0.5 -0.5" mesh="wrist_roll_pitch_so101_v2" material="wrist_roll_pitch_so101_v2_material"/>
                             <body name="gripper" pos="5.55112e-17 -0.0611 0.0181" quat="0.0172091 -0.0172091 0.706897 0.706897">
+<camera name="wrist" pos="0.003 0.066 -0.024" xyaxes="1 0 0 0 0.966 -0.259" fovy="85"/>
                                 <joint axis="0 0 1" name="wrist_roll" type="hinge" range="-2.7438472969992493 2.841206309382605" class="sts3215"/>
                 <inertial pos="0.000213627 0.000245138 -0.025187" mass="0.087" fullinertia="2.75087e-05 4.33657e-05 3.45059e-05 -3.35241e-07 -5.7352e-06 -5.17847e-08"/>
                                 <geom type="mesh" class="visual" pos="0.0077 0.0001 -0.0234" quat="0.707107 -0.707107 1.66015e-15 6.45094e-15" mesh="sts3215_03a_v1" material="sts3215_03a_v1_material"/>