├── .gitignore ├── CHANGELOG.md ├── Dexterous_hand └── fourier_hand_6dof │ ├── meshes │ └── fourier_hand_6dof │ │ ├── L_hand_base_link.STL │ │ ├── L_index_intermediate_link.STL │ │ ├── L_index_proximal_link.STL │ │ ├── L_middle_intermediate_link.STL │ │ ├── L_middle_proximal_link.STL │ │ ├── L_pinky_intermediate_link.STL │ │ ├── L_pinky_proximal_link.STL │ │ ├── L_ring_intermediate_link.STL │ │ ├── L_ring_proximal_link.STL │ │ ├── L_thumb_distal_link.STL │ │ ├── L_thumb_proximal_pitch_link.STL │ │ ├── L_thumb_proximal_yaw_link.STL │ │ ├── R_hand_base_link.STL │ │ ├── R_index_intermediate_link.STL │ │ ├── R_index_proximal_link.STL │ │ ├── R_middle_intermediate_link.STL │ │ ├── R_middle_proximal_link.STL │ │ ├── R_pinky_intermediate_link.STL │ │ ├── R_pinky_proximal_link.STL │ │ ├── R_ring_intermediate_link.STL │ │ ├── R_ring_proximal_link.STL │ │ ├── R_thumb_distal_link.STL │ │ ├── R_thumb_proximal_pitch_link.STL │ │ └── R_thumb_proximal_yaw_link.STL │ └── urdf │ ├── fourier_left_hand_6dof.urdf │ └── fourier_right_hand_6dof.urdf ├── GR1_legacy └── GR1 │ ├── GR1T1 │ ├── meshes │ │ ├── base.STL │ │ ├── head_pitch.STL │ │ ├── head_roll.STL │ │ ├── head_yaw.STL │ │ ├── l_foot_pitch.STL │ │ ├── l_foot_roll.STL │ │ ├── l_hand_pitch.STL │ │ ├── l_hand_roll.STL │ │ ├── l_hand_yaw.STL │ │ ├── l_lower_arm_pitch.STL │ │ ├── l_shank_pitch.STL │ │ ├── l_thigh_pitch.STL │ │ ├── l_thigh_roll.STL │ │ ├── l_thigh_yaw.STL │ │ ├── l_upper_arm_pitch.STL │ │ ├── l_upper_arm_roll.STL │ │ ├── l_upper_arm_yaw.STL │ │ ├── r_foot_pitch.STL │ │ ├── r_foot_roll.STL │ │ ├── r_hand_pitch.STL │ │ ├── r_hand_roll.STL │ │ ├── r_hand_yaw.STL │ │ ├── r_lower_arm_pitch.STL │ │ ├── r_shank_pitch.STL │ │ ├── r_thigh_pitch.STL │ │ ├── r_thigh_roll.STL │ │ ├── r_thigh_yaw.STL │ │ ├── r_upper_arm_pitch.STL │ │ ├── r_upper_arm_roll.STL │ │ ├── r_upper_arm_yaw.STL │ │ ├── waist_pitch.STL │ │ ├── waist_roll.STL │ │ └── waist_yaw.STL │ └── urdf │ │ ├── GR1T1.urdf │ │ └── GR1T1_simple.urdf │ └── GR1T2 │ ├── meshes │ ├── Larm1.STL │ ├── Larm2.STL │ ├── Larm3.STL │ ├── Larm4.STL │ ├── Larm5.STL │ ├── Larm6.STL │ ├── Larm7.STL │ ├── Lleg1.STL │ ├── Lleg2.STL │ ├── Lleg3.STL │ ├── Lleg4.STL │ ├── Lleg5.STL │ ├── Lleg6.STL │ ├── Rarm1.STL │ ├── Rarm2.STL │ ├── Rarm3.STL │ ├── Rarm4.STL │ ├── Rarm5.STL │ ├── Rarm6.STL │ ├── Rarm7.STL │ ├── Rleg1.STL │ ├── Rleg2.STL │ ├── Rleg3.STL │ ├── Rleg4.STL │ ├── Rleg5.STL │ ├── Rleg6.STL │ ├── base.STL │ ├── head1.STL │ ├── head2.STL │ ├── head3.STL │ ├── torso.STL │ ├── waist1.STL │ ├── waist2.STL │ └── waist3.STL │ └── urdf │ ├── GR1T2.urdf │ └── GR1T2_simple.urdf ├── GRX ├── GR1 │ ├── README.md │ ├── gr1t1 │ │ ├── basic_urdf │ │ │ ├── gr1t1.urdf │ │ │ └── gr1t1_dummy_hand.urdf │ │ ├── meshes │ │ │ ├── dummy_hand │ │ │ │ ├── dummy_left_hand.STL │ │ │ │ └── dummy_right_hand.STL │ │ │ ├── fourier_hand_6dof │ │ │ │ ├── L_hand_base_link.STL │ │ │ │ ├── L_index_intermediate_link.STL │ │ │ │ ├── L_index_proximal_link.STL │ │ │ │ ├── L_middle_intermediate_link.STL │ │ │ │ ├── L_middle_proximal_link.STL │ │ │ │ ├── L_pinky_intermediate_link.STL │ │ │ │ ├── L_pinky_proximal_link.STL │ │ │ │ ├── L_ring_intermediate_link.STL │ │ │ │ ├── L_ring_proximal_link.STL │ │ │ │ ├── L_thumb_distal_link.STL │ │ │ │ ├── L_thumb_proximal_pitch_link.STL │ │ │ │ ├── L_thumb_proximal_yaw_link.STL │ │ │ │ ├── R_hand_base_link.STL │ │ │ │ ├── R_index_intermediate_link.STL │ │ │ │ ├── R_index_proximal_link.STL │ │ │ │ ├── R_middle_intermediate_link.STL │ │ │ │ ├── R_middle_proximal_link.STL │ │ │ │ ├── R_pinky_intermediate_link.STL │ │ │ │ ├── R_pinky_proximal_link.STL │ │ │ │ ├── R_ring_intermediate_link.STL │ │ │ │ ├── R_ring_proximal_link.STL │ │ │ │ ├── R_thumb_distal_link.STL │ │ │ │ ├── R_thumb_proximal_pitch_link.STL │ │ │ │ └── R_thumb_proximal_yaw_link.STL │ │ │ └── gr1t1 │ │ │ │ ├── IMU_link.STL │ │ │ │ ├── base_link.STL │ │ │ │ ├── head_pitch_link.STL │ │ │ │ ├── head_roll_link.STL │ │ │ │ ├── head_yaw_link.STL │ │ │ │ ├── left_foot_pitch_link.STL │ │ │ │ ├── left_foot_roll_link.STL │ │ │ │ ├── left_hand_pitch_link.STL │ │ │ │ ├── left_hand_roll_link.STL │ │ │ │ ├── left_hand_yaw_link.STL │ │ │ │ ├── left_lower_arm_pitch_link.STL │ │ │ │ ├── left_shank_pitch_link.STL │ │ │ │ ├── left_thigh_pitch_link.STL │ │ │ │ ├── left_thigh_roll_link.STL │ │ │ │ ├── left_thigh_yaw_link.STL │ │ │ │ ├── left_upper_arm_pitch_link.STL │ │ │ │ ├── left_upper_arm_roll_link.STL │ │ │ │ ├── left_upper_arm_yaw_link.STL │ │ │ │ ├── right_foot_pitch_link.STL │ │ │ │ ├── right_foot_roll_link.STL │ │ │ │ ├── right_hand_pitch_link.STL │ │ │ │ ├── right_hand_roll_link.STL │ │ │ │ ├── right_hand_yaw_link.STL │ │ │ │ ├── right_lower_arm_pitch_link.STL │ │ │ │ ├── right_shank_pitch_link.STL │ │ │ │ ├── right_thigh_pitch_link.STL │ │ │ │ ├── right_thigh_roll_link.STL │ │ │ │ ├── right_thigh_yaw_link.STL │ │ │ │ ├── right_upper_arm_pitch_link.STL │ │ │ │ ├── right_upper_arm_roll_link.STL │ │ │ │ ├── right_upper_arm_yaw_link.STL │ │ │ │ ├── torso_link.STL │ │ │ │ ├── waist_pitch_link.STL │ │ │ │ ├── waist_roll_link.STL │ │ │ │ └── waist_yaw_link.STL │ │ └── urdf │ │ │ └── gr1t1_fourier_hand_6dof.urdf │ └── gr1t2 │ │ ├── basic_urdf │ │ ├── gr1t2.urdf │ │ └── gr1t2_dummy_hand.urdf │ │ ├── meshes │ │ ├── dummy_hand │ │ │ ├── dummy_left_hand.STL │ │ │ └── dummy_right_hand.STL │ │ ├── fourier_hand_6dof │ │ │ ├── L_hand_base_link.STL │ │ │ ├── L_index_intermediate_link.STL │ │ │ ├── L_index_proximal_link.STL │ │ │ ├── L_middle_intermediate_link.STL │ │ │ ├── L_middle_proximal_link.STL │ │ │ ├── L_pinky_intermediate_link.STL │ │ │ ├── L_pinky_proximal_link.STL │ │ │ ├── L_ring_intermediate_link.STL │ │ │ ├── L_ring_proximal_link.STL │ │ │ ├── L_thumb_distal_link.STL │ │ │ ├── L_thumb_proximal_pitch_link.STL │ │ │ ├── L_thumb_proximal_yaw_link.STL │ │ │ ├── R_hand_base_link.STL │ │ │ ├── R_index_intermediate_link.STL │ │ │ ├── R_index_proximal_link.STL │ │ │ ├── R_middle_intermediate_link.STL │ │ │ ├── R_middle_proximal_link.STL │ │ │ ├── R_pinky_intermediate_link.STL │ │ │ ├── R_pinky_proximal_link.STL │ │ │ ├── R_ring_intermediate_link.STL │ │ │ ├── R_ring_proximal_link.STL │ │ │ ├── R_thumb_distal_link.STL │ │ │ ├── R_thumb_proximal_pitch_link.STL │ │ │ └── R_thumb_proximal_yaw_link.STL │ │ └── gr1t2 │ │ │ ├── base_link.STL │ │ │ ├── base_link.mtl │ │ │ ├── base_link.obj │ │ │ ├── head_pitch_link.STL │ │ │ ├── head_pitch_link.mtl │ │ │ ├── head_pitch_link.obj │ │ │ ├── head_roll_link.STL │ │ │ ├── head_roll_link.mtl │ │ │ ├── head_roll_link.obj │ │ │ ├── head_yaw_link.STL │ │ │ ├── head_yaw_link.mtl │ │ │ ├── head_yaw_link.obj │ │ │ ├── imu_link.STL │ │ │ ├── imu_link.mtl │ │ │ ├── imu_link.obj │ │ │ ├── left_foot_pitch_link.STL │ │ │ ├── left_foot_pitch_link.mtl │ │ │ ├── left_foot_pitch_link.obj │ │ │ ├── left_foot_roll_link.STL │ │ │ ├── left_foot_roll_link.mtl │ │ │ ├── left_foot_roll_link.obj │ │ │ ├── left_hand_pitch_link.STL │ │ │ ├── left_hand_pitch_link.mtl │ │ │ ├── left_hand_pitch_link.obj │ │ │ ├── left_hand_roll_link.STL │ │ │ ├── left_hand_roll_link.mtl │ │ │ ├── left_hand_roll_link.obj │ │ │ ├── left_hand_yaw_link.STL │ │ │ ├── left_hand_yaw_link.mtl │ │ │ ├── left_hand_yaw_link.obj │ │ │ ├── left_lower_arm_pitch_link.STL │ │ │ ├── left_lower_arm_pitch_link.mtl │ │ │ ├── left_lower_arm_pitch_link.obj │ │ │ ├── left_shank_pitch_link.STL │ │ │ ├── left_shank_pitch_link.mtl │ │ │ ├── left_shank_pitch_link.obj │ │ │ ├── left_thigh_pitch_link.STL │ │ │ ├── left_thigh_pitch_link.mtl │ │ │ ├── left_thigh_pitch_link.obj │ │ │ ├── left_thigh_roll_link.STL │ │ │ ├── left_thigh_roll_link.mtl │ │ │ ├── left_thigh_roll_link.obj │ │ │ ├── left_thigh_yaw_link.STL │ │ │ ├── left_thigh_yaw_link.mtl │ │ │ ├── left_thigh_yaw_link.obj │ │ │ ├── left_upper_arm_pitch_link.STL │ │ │ ├── left_upper_arm_pitch_link.mtl │ │ │ ├── left_upper_arm_pitch_link.obj │ │ │ ├── left_upper_arm_roll_link.STL │ │ │ ├── left_upper_arm_roll_link.mtl │ │ │ ├── left_upper_arm_roll_link.obj │ │ │ ├── left_upper_arm_yaw_link.STL │ │ │ ├── left_upper_arm_yaw_link.mtl │ │ │ ├── left_upper_arm_yaw_link.obj │ │ │ ├── right_foot_pitch_link.STL │ │ │ ├── right_foot_pitch_link.mtl │ │ │ ├── right_foot_pitch_link.obj │ │ │ ├── right_foot_roll_link.STL │ │ │ ├── right_foot_roll_link.mtl │ │ │ ├── right_foot_roll_link.obj │ │ │ ├── right_hand_pitch_link.STL │ │ │ ├── right_hand_pitch_link.mtl │ │ │ ├── right_hand_pitch_link.obj │ │ │ ├── right_hand_roll_link.STL │ │ │ ├── right_hand_roll_link.mtl │ │ │ ├── right_hand_roll_link.obj │ │ │ ├── right_hand_yaw_link.STL │ │ │ ├── right_hand_yaw_link.mtl │ │ │ ├── right_hand_yaw_link.obj │ │ │ ├── right_lower_arm_pitch_link.STL │ │ │ ├── right_lower_arm_pitch_link.mtl │ │ │ ├── right_lower_arm_pitch_link.obj │ │ │ ├── right_shank_pitch_link.STL │ │ │ ├── right_shank_pitch_link.mtl │ │ │ ├── right_shank_pitch_link.obj │ │ │ ├── right_thigh_pitch_link.STL │ │ │ ├── right_thigh_pitch_link.mtl │ │ │ ├── right_thigh_pitch_link.obj │ │ │ ├── right_thigh_roll_link.STL │ │ │ ├── right_thigh_roll_link.mtl │ │ │ ├── right_thigh_roll_link.obj │ │ │ ├── right_thigh_yaw_link.STL │ │ │ ├── right_thigh_yaw_link.mtl │ │ │ ├── right_thigh_yaw_link.obj │ │ │ ├── right_upper_arm_pitch_link.STL │ │ │ ├── right_upper_arm_pitch_link.mtl │ │ │ ├── right_upper_arm_pitch_link.obj │ │ │ ├── right_upper_arm_roll_link.STL │ │ │ ├── right_upper_arm_roll_link.mtl │ │ │ ├── right_upper_arm_roll_link.obj │ │ │ ├── right_upper_arm_yaw_link.STL │ │ │ ├── right_upper_arm_yaw_link.mtl │ │ │ ├── right_upper_arm_yaw_link.obj │ │ │ ├── torso_link.STL │ │ │ ├── torso_link.mtl │ │ │ ├── torso_link.obj │ │ │ ├── waist_pitch_link.STL │ │ │ ├── waist_pitch_link.mtl │ │ │ ├── waist_pitch_link.obj │ │ │ ├── waist_roll_link.STL │ │ │ ├── waist_roll_link.mtl │ │ │ ├── waist_roll_link.obj │ │ │ ├── waist_yaw_link.STL │ │ │ ├── waist_yaw_link.mtl │ │ │ └── waist_yaw_link.obj │ │ └── urdf │ │ └── gr1t2_fourier_hand_6dof.urdf ├── GR2 │ ├── GR2v3.0.1 │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── head_pitch_link.STL │ │ │ ├── head_yaw_link.STL │ │ │ ├── left_foot_pitch_link.STL │ │ │ ├── left_foot_roll_link.STL │ │ │ ├── left_hand_pitch_link.STL │ │ │ ├── left_hand_roll_link.STL │ │ │ ├── left_hand_yaw_link.STL │ │ │ ├── left_lower_arm_pitch_link.STL │ │ │ ├── left_shank_pitch_link.STL │ │ │ ├── left_thigh_pitch_link.STL │ │ │ ├── left_thigh_roll_link.STL │ │ │ ├── left_thigh_yaw_link.STL │ │ │ ├── left_upper_arm_pitch_link.STL │ │ │ ├── left_upper_arm_roll_link.STL │ │ │ ├── left_upper_arm_yaw_link.STL │ │ │ ├── right_end_effector_link.STL │ │ │ ├── right_foot_pitch_link.STL │ │ │ ├── right_foot_roll_link.STL │ │ │ ├── right_hand_pitch_link.STL │ │ │ ├── right_hand_roll_link.STL │ │ │ ├── right_hand_yaw_link.STL │ │ │ ├── right_lower_arm_pitch_link.STL │ │ │ ├── right_shank_pitch_link.STL │ │ │ ├── right_thigh_pitch_link.STL │ │ │ ├── right_thigh_roll_link.STL │ │ │ ├── right_thigh_yaw_link.STL │ │ │ ├── right_upper_arm_pitch_link.STL │ │ │ ├── right_upper_arm_roll_link.STL │ │ │ ├── right_upper_arm_yaw_link.STL │ │ │ ├── torso_link.STL │ │ │ └── waist_yaw_link.STL │ │ └── urdf │ │ │ └── GR2v3.0.1.urdf │ └── gr2v3_8_7 │ │ ├── basic_urdf │ │ ├── gr2v3_8_7.urdf │ │ └── gr2v3_8_7_dummy_hand.urdf │ │ ├── meshes │ │ ├── dummy_hand │ │ │ ├── dummy_left_hand.STL │ │ │ └── dummy_right_hand.STL │ │ └── gr2v3_8_7 │ │ │ ├── base_link.STL │ │ │ ├── head_pitch_link.STL │ │ │ ├── head_yaw_link.STL │ │ │ ├── left_foot_pitch_link.STL │ │ │ ├── left_foot_roll_link.STL │ │ │ ├── left_hand_pitch_link.STL │ │ │ ├── left_hand_roll_link.STL │ │ │ ├── left_hand_yaw_link.STL │ │ │ ├── left_lower_arm_pitch_link.STL │ │ │ ├── left_shank_pitch_link.STL │ │ │ ├── left_thigh_pitch_link.STL │ │ │ ├── left_thigh_roll_link.STL │ │ │ ├── left_thigh_yaw_link.STL │ │ │ ├── left_upper_arm_pitch_link.STL │ │ │ ├── left_upper_arm_roll_link.STL │ │ │ ├── left_upper_arm_yaw_link.STL │ │ │ ├── right_foot_pitch_link.STL │ │ │ ├── right_foot_roll_link.STL │ │ │ ├── right_hand_pitch_link.STL │ │ │ ├── right_hand_roll_link.STL │ │ │ ├── right_hand_yaw_link.STL │ │ │ ├── right_lower_arm_pitch_link.STL │ │ │ ├── right_shank_pitch_link.STL │ │ │ ├── right_thigh_pitch_link.STL │ │ │ ├── right_thigh_roll_link.STL │ │ │ ├── right_thigh_yaw_link.STL │ │ │ ├── right_upper_arm_pitch_link.STL │ │ │ ├── right_upper_arm_roll_link.STL │ │ │ ├── right_upper_arm_yaw_link.STL │ │ │ ├── torso_link.STL │ │ │ └── waist_yaw_link.STL │ │ └── mjcf │ │ ├── gr2v3_8_7.xml │ │ └── gr2v3_8_7_dummy_hand.xml └── GR3 │ └── gr3v2_1_1 │ ├── basic_urdf │ ├── gr3v2_1_1.urdf │ └── gr3v2_1_1_dummy_hand.urdf │ ├── meshes │ ├── dummy_hand │ │ ├── dummy_left_hand.STL │ │ └── dummy_right_hand.STL │ ├── fourier_hand_6dof │ │ ├── L_hand_base_link.STL │ │ ├── L_index_intermediate_link.STL │ │ ├── L_index_proximal_link.STL │ │ ├── L_middle_intermediate_link.STL │ │ ├── L_middle_proximal_link.STL │ │ ├── L_pinky_intermediate_link.STL │ │ ├── L_pinky_proximal_link.STL │ │ ├── L_ring_intermediate_link.STL │ │ ├── L_ring_proximal_link.STL │ │ ├── L_thumb_distal_link.STL │ │ ├── L_thumb_proximal_pitch_link.STL │ │ ├── L_thumb_proximal_yaw_link.STL │ │ ├── R_hand_base_link.STL │ │ ├── R_index_intermediate_link.STL │ │ ├── R_index_proximal_link.STL │ │ ├── R_middle_intermediate_link.STL │ │ ├── R_middle_proximal_link.STL │ │ ├── R_pinky_intermediate_link.STL │ │ ├── R_pinky_proximal_link.STL │ │ ├── R_ring_intermediate_link.STL │ │ ├── R_ring_proximal_link.STL │ │ ├── R_thumb_distal_link.STL │ │ ├── R_thumb_proximal_pitch_link.STL │ │ └── R_thumb_proximal_yaw_link.STL │ └── gr3v2_1_1 │ │ ├── base_link.STL │ │ ├── camera_link.STL │ │ ├── head_pitch_link.STL │ │ ├── head_yaw_link.STL │ │ ├── imu_link.STL │ │ ├── left_foot_pitch_link.STL │ │ ├── left_foot_roll_link.STL │ │ ├── left_hand_pitch_link.STL │ │ ├── left_hand_roll_link.STL │ │ ├── left_hand_yaw_link.STL │ │ ├── left_lower_arm_pitch_link.STL │ │ ├── left_shank_pitch_link.STL │ │ ├── left_thigh_pitch_link.STL │ │ ├── left_thigh_roll_link.STL │ │ ├── left_thigh_yaw_link.STL │ │ ├── left_upper_arm_pitch_link.STL │ │ ├── left_upper_arm_roll_link.STL │ │ ├── left_upper_arm_yaw_link.STL │ │ ├── right_foot_pitch_link.STL │ │ ├── right_foot_roll_link.STL │ │ ├── right_hand_pitch_link.STL │ │ ├── right_hand_roll_link.STL │ │ ├── right_hand_yaw_link.STL │ │ ├── right_lower_arm_pitch_link.STL │ │ ├── right_shank_pitch_link.STL │ │ ├── right_thigh_pitch_link.STL │ │ ├── right_thigh_roll_link.STL │ │ ├── right_thigh_yaw_link.STL │ │ ├── right_upper_arm_pitch_link.STL │ │ ├── right_upper_arm_roll_link.STL │ │ ├── right_upper_arm_yaw_link.STL │ │ ├── torso_link.STL │ │ ├── waist_pitch_link.STL │ │ ├── waist_roll_link.STL │ │ └── waist_yaw_link.STL │ └── mjcf │ ├── gr3v2_1_1.xml │ └── gr3v2_1_1_dummy_hand.xml ├── LICENSE ├── README.md ├── pictures ├── gr1t1_model.png └── gr1t2_model.png └── scripts ├── add_end_effecor.py ├── mesh_compresser.py 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