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cmvr-es/model/ume/README.md
xtkuang af67751937 feat: add safe UME teleoperation framework 
Add the UME RobotArm and Damiao CAN-FD path, migrate the legacy UME controller, and introduce guarded cross-machine gRPC teleoperation with lifecycle, authority, configuration, and test coverage.
2026-07-31 08:48:04 +08:00

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UME legacy dynamics models

These MJCF files are exact copies from Universal-Manipulation-Exoskeleton commit e087df5cd3b281418722e155d9975695f163698e:

  • v6_bimanual/robot.xml: fixed-base model used for LOCAL_WORLD_ALIGNED shoulder/wrist rotational Jacobians. SHA-256: c185fe505ab52275d1be9c5b563df5c6505a3da81e0e622cffd66324e3839f3b.
  • v6_imu/robot.xml: floating-base model used for the original rnea(q, v, 0) compensation path. SHA-256: db1dad82ebca9413edf268a980c5be5a307c990b86654db840098095d8bd5e14.

The source paths are ume/robot/ume/v6_bimanual/models/robot.xml and ume/robot/ume/v6_imu/models/robot.xml, respectively.

Only the model topology/dynamics parser is used. Pinocchio 3.6 mjcf::buildModel and the adapter tests load these files without resolving their visual STL assets, so no geometry files are duplicated here.

The adapter enforces the model's structural contract. Integrations that require byte-for-byte model identity must also compare the SHA-256 values above before arming motion.

The repository's root install rule copies model/ to the deployment tree at bin/model/.