29 lines
1.1 KiB
Markdown
29 lines
1.1 KiB
Markdown
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# UME legacy dynamics models
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These MJCF files are exact copies from Universal-Manipulation-Exoskeleton
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commit `e087df5cd3b281418722e155d9975695f163698e`:
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- `v6_bimanual/robot.xml`: fixed-base model used for
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`LOCAL_WORLD_ALIGNED` shoulder/wrist rotational Jacobians.
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SHA-256:
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`c185fe505ab52275d1be9c5b563df5c6505a3da81e0e622cffd66324e3839f3b`.
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- `v6_imu/robot.xml`: floating-base model used for the original
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`rnea(q, v, 0)` compensation path.
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SHA-256:
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`db1dad82ebca9413edf268a980c5be5a307c990b86654db840098095d8bd5e14`.
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The source paths are
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`ume/robot/ume/v6_bimanual/models/robot.xml` and
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`ume/robot/ume/v6_imu/models/robot.xml`, respectively.
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Only the model topology/dynamics parser is used. Pinocchio 3.6
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`mjcf::buildModel` and the adapter tests load these files without resolving
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their visual STL assets, so no geometry files are duplicated here.
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The adapter enforces the model's structural contract. Integrations that require
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byte-for-byte model identity must also compare the SHA-256 values above before
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arming motion.
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The repository's root install rule copies `model/` to the deployment tree at
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`bin/model/`.
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