{"id":104652,"date":"2026-09-12T21:57:16","date_gmt":"2026-09-12T13:57:16","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/104652.html"},"modified":"2026-09-12T21:57:16","modified_gmt":"2026-09-12T13:57:16","slug":"2026-%e6%9c%ba%e5%99%a8%e4%ba%ba%e5%b7%a5%e7%a8%8b%e5%ae%9e%e4%be%8b%ef%bc%88%e4%ba%94%ef%bc%89%ef%bc%9a%e8%ae%a9-allegro-hand-%e5%9c%a8-mujoco-%e4%b8%ad%e5%ae%8c%e6%88%90%e6%8e%a5%e8%a7%a6%e6%8a%93","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/104652.html","title":{"rendered":"2026 \u673a\u5668\u4eba\u5de5\u7a0b\u5b9e\u4f8b\uff08\u4e94\uff09\uff1a\u8ba9 Allegro Hand \u5728 MuJoCo \u4e2d\u5b8c\u6210\u63a5\u89e6\u6293\u53d6\u2014\u2014\u6293\u53d6\u72b6\u6001\u673a\u3001\u7a33\u5b9a\u62ac\u5347\u4e0e\u53d7\u63a7\u91ca\u653e"},"content":{"rendered":"<h2><\/h2>\n<p>\u7cfb\u5217&#xff1a; 2026 \u673a\u5668\u4eba\u5de5\u7a0b\u5b9e\u4f8b \u73af\u5883&#xff1a; Windows 11\u3001WSL2 \/ WSLg\u3001Ubuntu 26.04\u3001Python 3.12\u3001MuJoCo 3.3.6 \u673a\u5668\u4eba\u6a21\u578b&#xff1a; Allegro Hand V3 \u53f3\u624b \u9879\u76ee\u540d\u79f0&#xff1a; 05-dexterous-hand \u5b8c\u6574\u4ee3\u7801&#xff1a; zephastra\/robotics&#xff1a;05-dexterous-hand \u5173\u952e\u8bcd&#xff1a; \u7075\u5de7\u624b\u3001Allegro Hand\u3001MuJoCo\u3001\u63a5\u89e6\u6293\u53d6\u3001\u72b6\u6001\u673a\u3001\u7269\u7406\u4eff\u771f\u3001\u6293\u53d6\u9a8c\u8bc1<\/p>\n<h3>\u524d\u8a00<\/h3>\n<p>\u8ba9\u7075\u5de7\u624b\u7684\u624b\u6307\u52a8\u8d77\u6765\u5e76\u4e0d\u96be\u3002<\/p>\n<p>\u7ed9 16 \u4e2a\u5173\u8282\u8bbe\u7f6e\u4e00\u7ec4\u76ee\u6807\u89d2\u5ea6&#xff0c;\u6a21\u578b\u5f88\u5feb\u5c31\u80fd\u6446\u51fa\u5f20\u5f00\u3001\u63e1\u62f3\u6216\u634f\u5408\u7684\u59ff\u6001\u3002\u4f46\u201c\u624b\u6307\u5df2\u7ecf\u5408\u62e2\u201d\u548c\u201c\u7269\u4f53\u5df2\u7ecf\u88ab\u53ef\u9760\u6293\u4f4f\u201d\u662f\u4e24\u4ef6\u5b8c\u5168\u4e0d\u540c\u7684\u4e8b\u60c5\u3002<\/p>\n<p>\u4e00\u6b21\u53ef\u4ee5\u9a8c\u6536\u7684\u6293\u53d6\u81f3\u5c11\u8981\u56de\u7b54\u4e0b\u9762\u51e0\u4e2a\u95ee\u9898&#xff1a;<\/p>\n<ul>\n<li>\u624b\u6307\u662f\u5426\u771f\u7684\u4e0e\u7269\u4f53\u5efa\u7acb\u4e86\u63a5\u89e6&#xff1f;<\/li>\n<li>\u63a5\u89e6\u662f\u5426\u6765\u81ea\u76f8\u5bf9\u7684\u591a\u4e2a\u65b9\u5411&#xff0c;\u800c\u4e0d\u662f\u5355\u6839\u624b\u6307\u78b0\u4e86\u4e00\u4e0b&#xff1f;<\/li>\n<li>\u7269\u4f53\u662f\u5426\u5df2\u7ecf\u8131\u79bb\u539f\u6765\u7684\u652f\u5ea7&#xff1f;<\/li>\n<li>\u62ac\u5347\u548c\u8f6c\u79fb\u8fc7\u7a0b\u4e2d\u6709\u6ca1\u6709\u6ed1\u843d&#xff1f;<\/li>\n<li>\u91ca\u653e\u4e4b\u540e&#xff0c;\u7269\u4f53\u662f\u5426\u7531\u76ee\u6807\u6258\u76d8\u72ec\u7acb\u652f\u6491&#xff1f;<\/li>\n<li>\u7a0b\u5e8f\u5982\u4f55\u533a\u5206\u201c\u6293\u53d6\u5b8c\u6210\u201d\u201c\u7269\u4f53\u6389\u843d\u201d\u548c\u201c\u653e\u7f6e\u4e0d\u7a33\u5b9a\u201d&#xff1f;<\/li>\n<\/ul>\n<p>\u56e0\u6b64&#xff0c;\u672c\u5de5\u7a0b\u6ca1\u6709\u628a\u76ee\u6807\u505c\u7559\u5728\u201c\u64ad\u653e\u4e00\u6bb5\u624b\u6307\u52a8\u753b\u201d&#xff0c;\u800c\u662f\u628a\u6293\u53d6\u62c6\u6210\u4e00\u6761\u7531\u4eff\u771f\u6d4b\u91cf\u503c\u9a71\u52a8\u7684\u95ed\u73af&#xff1a;<\/p>\n<p>\u5f20\u5f00\u4e0e\u7a33\u5b9a<br \/>\n    \u2193<br \/>\n\u624b\u6307\u6e10\u8fdb\u5408\u62e2<br \/>\n    \u2193<br \/>\n\u591a\u6307\u63a5\u89e6\u786e\u8ba4<br \/>\n    \u2193<br \/>\n\u62ac\u5347\u5e76\u8131\u79bb\u6e90\u652f\u5ea7<br \/>\n    \u2193<br \/>\n\u7a33\u5b9a\u4fdd\u6301<br \/>\n    \u2193<br \/>\n\u6c34\u5e73\u8f6c\u79fb<br \/>\n    \u2193<br \/>\n\u4e0b\u964d\u3001\u5f20\u5f00\u4e0e\u64a4\u624b<br \/>\n    \u2193<br \/>\n\u76ee\u6807\u6258\u76d8\u653e\u7f6e\u9a8c\u6536<\/p>\n<p>\u672c\u6587\u5c06\u5b8c\u6574\u4ecb\u7ecd\u8fd9\u5957\u6293\u53d6\u5b9e\u9a8c\u53f0\u7684\u7ed3\u6784\u3001\u72b6\u6001\u673a\u3001\u63a5\u89e6\u529b\u6d4b\u91cf\u3001\u6210\u529f\u5224\u636e\u3001\u5931\u8d25\u590d\u76d8\u4ee5\u53ca\u53ef\u4ee5\u8bda\u5b9e\u58f0\u79f0\u7684\u80fd\u529b\u8fb9\u754c\u3002<\/p>\n<hr \/>\n<h3>\u4e00\u3001\u5de5\u7a0b\u4e94\u89e3\u51b3\u4e86\u4ec0\u4e48\u95ee\u9898&#xff1f;<\/h3>\n<p>\u5de5\u7a0b\u4e94\u662f\u4e00\u4e2a\u72ec\u7acb\u7684 MuJoCo &#043; Allegro Hand V3 \u7075\u5de7\u624b\u52a8\u4f5c\u4e0e\u63a5\u89e6\u6293\u53d6\u5b9e\u9a8c\u53f0\u3002<\/p>\n<p>\u7cfb\u7edf\u4f7f\u7528\u56db\u6307\u300116 \u5173\u8282\u7684 Allegro Hand&#xff0c;\u901a\u8fc7\u4e00\u4e2a\u5177\u6709\u660e\u786e\u5173\u8282\u548c\u9a71\u52a8\u5668\u7684\u4e24\u8f74\u624b\u8155\u5939\u5177\u5b8c\u6210\u7ad6\u76f4\u62ac\u5347\u4e0e\u6a2a\u5411\u8f6c\u79fb\u3002\u81ea\u52a8\u4efb\u52a1\u4ece\u6e90\u652f\u5ea7\u4e0a\u7684\u7403\u4f53\u5f00\u59cb&#xff0c;\u4f9d\u6b21\u5b8c\u6210\u624b\u6307\u5408\u62e2\u3001\u63a5\u89e6\u786e\u8ba4\u3001\u62ac\u5347\u3001\u4fdd\u6301\u3001\u6a2a\u79fb\u3001\u4e0b\u964d\u3001\u91ca\u653e\u548c\u6258\u76d8\u653e\u7f6e\u9a8c\u6536\u3002<\/p>\n<p>\u6574\u4e2a\u8fc7\u7a0b\u4e2d&#xff0c;\u7403\u4f53\u59cb\u7ec8\u662f\u81ea\u7531\u7269\u4f53\u3002\u9879\u76ee\u4e0d\u4f7f\u7528\u5438\u9644\u3001\u7ed1\u5b9a\u3001\u710a\u63a5\u7ea6\u675f&#xff0c;\u4e5f\u4e0d\u4f1a\u5728\u8fd0\u884c\u4e2d\u76f4\u63a5\u4fee\u6539\u7403\u4f53\u5750\u6807\u3002\u7269\u4f53\u80fd\u4e0d\u80fd\u88ab\u5e26\u8d77\u6765&#xff0c;\u7531\u624b\u6307\u78b0\u649e\u3001\u63a5\u89e6\u529b\u3001\u6469\u64e6\u3001\u91cd\u529b\u4ee5\u53ca\u5939\u5177\u8fd0\u52a8\u5171\u540c\u51b3\u5b9a\u3002<\/p>\n<p>\u9879\u76ee\u540c\u65f6\u63d0\u4f9b&#xff1a;<\/p>\n<ul>\n<li>16 \u4e2a\u624b\u6307\u5173\u8282\u7684\u72ec\u7acb\u6ed1\u5757&#xff1b;<\/li>\n<li>\u5f20\u5f00\u3001\u591a\u6307\u5305\u7edc\u548c\u4e24\u6307\u52a8\u4f5c\u9884\u8bbe&#xff1b;<\/li>\n<li>Y \u65b9\u5411\u6a2a\u79fb\u4e0e Z \u65b9\u5411\u62ac\u5347\u63a7\u5236&#xff1b;<\/li>\n<li>\u81ea\u52a8\u6293\u53d6\u4efb\u52a1\u72b6\u6001\u673a&#xff1b;<\/li>\n<li>\u5206\u624b\u6307\u63a5\u89e6\u529b\u663e\u793a&#xff1b;<\/li>\n<li>\u4efb\u52a1\u53d6\u6d88\u3001\u7269\u7406\u6682\u505c\u4e0e\u4eba\u5de5\u63a5\u7ba1&#xff1b;<\/li>\n<li>\u5931\u8d25\u539f\u56e0\u8bb0\u5f55&#xff1b;<\/li>\n<li>JSON \u62a5\u544a\u4e0e CSV \u8f68\u8ff9&#xff1b;<\/li>\n<li>\u65e0\u754c\u9762\u6d4b\u8bd5\u3001\u6279\u91cf\u6270\u52a8\u6d4b\u8bd5\u548c\u56fe\u5f62\u9a8c\u8bc1\u3002<\/li>\n<\/ul>\n<p>\u9700\u8981\u63d0\u524d\u8bf4\u660e&#xff1a;\u5f53\u524d\u5de5\u7a0b\u662f\u4e00\u4e2a\u56db\u6307\u7075\u5de7\u624b\u5b9e\u9a8c\u53f0&#xff0c;\u4e0d\u662f\u5b8c\u6574\u673a\u68b0\u81c2\u6216\u4eba\u5f62\u673a\u5668\u4eba\u3002\u4e24\u8f74\u5939\u5177\u53ea\u8d1f\u8d23\u79fb\u52a8\u624b\u8155&#xff0c;\u4e0d\u4ee3\u8868\u5df2\u7ecf\u5b9e\u73b0\u673a\u68b0\u81c2\u8fd0\u52a8\u89c4\u5212\u3001\u5168\u8eab\u5e73\u8861\u6216\u771f\u5b9e\u786c\u4ef6\u63a7\u5236\u3002<\/p>\n<hr \/>\n<h3>\u4e8c\u3001\u4e3a\u4ec0\u4e48\u4e0d\u80fd\u53ea\u770b\u201c\u624b\u6709\u6ca1\u6709\u95ed\u5408\u201d&#xff1f;<\/h3>\n<p>\u6700\u7b80\u5355\u7684\u6293\u53d6\u6f14\u793a\u901a\u5e38\u91c7\u7528\u56fa\u5b9a\u65f6\u95f4\u8f74&#xff1a;<\/p>\n<p>0 \u79d2&#xff1a;\u5f20\u5f00<br \/>\n2 \u79d2&#xff1a;\u5408\u62e2<br \/>\n5 \u79d2&#xff1a;\u62ac\u8d77<br \/>\n8 \u79d2&#xff1a;\u79fb\u52a8<br \/>\n10 \u79d2&#xff1a;\u677e\u5f00<\/p>\n<p>\u8fd9\u79cd\u6d41\u7a0b\u53ea\u80fd\u8bc1\u660e\u63a7\u5236\u547d\u4ee4\u88ab\u53d1\u51fa&#xff0c;\u4e0d\u80fd\u8bc1\u660e\u4efb\u52a1\u5b8c\u6210\u3002<\/p>\n<p>\u4f8b\u5982&#xff0c;\u624b\u6307\u53ef\u80fd\u6ca1\u6709\u78b0\u5230\u7269\u4f53&#xff0c;\u4f46\u7a0b\u5e8f\u4ecd\u7136\u8fdb\u5165\u62ac\u5347\u9636\u6bb5&#xff1b;\u7403\u53ef\u80fd\u5728\u79fb\u52a8\u9014\u4e2d\u5df2\u7ecf\u6ed1\u843d&#xff0c;\u4f46\u52a8\u753b\u4ecd\u7136\u7ee7\u7eed&#xff1b;\u7269\u4f53\u4e5f\u53ef\u80fd\u88ab\u624b\u6307\u5e26\u5230\u6258\u76d8\u9644\u8fd1&#xff0c;\u5374\u6ca1\u6709\u771f\u6b63\u8131\u79bb\u624b\u638c\u3002<\/p>\n<p>\u5de5\u7a0b\u4e94\u91c7\u7528\u7684\u662f\u201c\u547d\u4ee4 &#043; \u6d4b\u91cf &#043; \u5224\u5b9a\u201d\u7684\u65b9\u5f0f&#xff1a;<\/p>\n<p>\u5173\u8282\u4e0e\u5939\u5177\u76ee\u6807<br \/>\n        \u2193<br \/>\n\u901f\u5ea6\u9650\u5236\u548c\u5e73\u6ed1\u4e0b\u53d1<br \/>\n        \u2193<br \/>\nMuJoCo \u4f4d\u7f6e\u9a71\u52a8\u5668<br \/>\n        \u2193<br \/>\n\u78b0\u649e\u3001\u6469\u64e6\u3001\u91cd\u529b\u4e0e\u63a5\u89e6<br \/>\n        \u2193<br \/>\n\u7269\u4f53\u4f4d\u7f6e \/ \u901f\u5ea6 \/ \u652f\u6491\u5173\u7cfb \/ \u5206\u6307\u63a5\u89e6\u529b<br \/>\n        \u2193<br \/>\n\u72b6\u6001\u673a\u51b3\u5b9a\u7ee7\u7eed\u3001\u5b8c\u6210\u6216\u5931\u8d25<\/p>\n<p>\u65f6\u95f4\u53ea\u7528\u4e8e\u63a7\u5236\u52a8\u4f5c\u6301\u7eed\u65f6\u95f4\u548c\u8d85\u65f6&#xff0c;\u9636\u6bb5\u5207\u6362\u8fd8\u5fc5\u987b\u6ee1\u8db3\u5b9e\u9645\u6d4b\u91cf\u6761\u4ef6\u3002<\/p>\n<p>\u8fd9\u4e5f\u662f\u672c\u5de5\u7a0b\u6700\u91cd\u8981\u7684\u8bbe\u8ba1\u539f\u5219&#xff1a;\u52a8\u4f5c\u811a\u672c\u8d1f\u8d23\u63d0\u51fa\u610f\u56fe&#xff0c;\u7269\u7406\u6d4b\u91cf\u8d1f\u8d23\u51b3\u5b9a\u7ed3\u679c\u3002<\/p>\n<hr \/>\n<h3>\u4e09\u3001\u5b9e\u9a8c\u53f0\u7531\u54ea\u4e9b\u90e8\u5206\u7ec4\u6210&#xff1f;<\/h3>\n<h4>1. Allegro Hand V3<\/h4>\n<p>\u672c\u9879\u76ee\u4f7f\u7528 Allegro Hand V3 \u53f3\u624b\u6a21\u578b&#xff0c;\u5305\u542b\u56db\u6839\u624b\u6307&#xff1a;<\/p>\n<ul>\n<li>\u98df\u6307 ff&#xff1b;<\/li>\n<li>\u4e2d\u6307 mf&#xff1b;<\/li>\n<li>\u65e0\u540d\u6307 rf&#xff1b;<\/li>\n<li>\u62c7\u6307 th\u3002<\/li>\n<\/ul>\n<p>\u6bcf\u6839\u624b\u6307\u5305\u542b 4 \u4e2a\u72ec\u7acb\u5173\u8282&#xff0c;\u603b\u8ba1 16 \u4e2a\u624b\u6307\u5173\u8282\u3002\u5173\u8282\u8303\u56f4\u3001\u8d28\u91cf\u3001\u78b0\u649e\u51e0\u4f55\u548c\u4f4d\u7f6e\u9a71\u52a8\u5668\u6765\u81ea\u56fa\u5b9a\u7248\u672c\u7684\u4e0a\u6e38\u6a21\u578b&#xff0c;\u9879\u76ee\u6ca1\u6709\u4e3a\u4e86\u8ba9\u7403\u66f4\u5bb9\u6613\u6293\u4f4f\u800c\u6269\u5927\u624b\u6307\u5173\u8282\u8303\u56f4\u3002<\/p>\n<h4>2. \u4e24\u8f74\u624b\u8155\u5939\u5177<\/h4>\n<p>\u4e3a\u4e86\u628a\u6ce8\u610f\u529b\u96c6\u4e2d\u5728\u63a5\u89e6\u6293\u53d6\u548c\u4efb\u52a1\u9a8c\u6536\u4e0a&#xff0c;\u624b\u8155\u5b89\u88c5\u5728\u4e00\u4e2a\u4e24\u8f74\u5b9a\u4f4d\u5939\u5177\u4e0a&#xff1a;<\/p>\n<ul>\n<li>Y transfer&#xff1a;\u6cbf Y \u65b9\u5411\u79fb\u52a8 20 cm&#xff1b;<\/li>\n<li>Z lift&#xff1a;\u6cbf Z \u65b9\u5411\u62ac\u5347 12 cm\u3002<\/li>\n<\/ul>\n<p>\u5939\u5177\u4e0d\u662f\u901a\u8fc7\u4fee\u6539\u6a21\u578b\u6839\u5750\u6807\u5b9e\u73b0\u77ac\u79fb&#xff0c;\u800c\u662f\u62e5\u6709\u81ea\u5df1\u7684\u5173\u8282\u548c\u9a71\u52a8\u5668\u3002\u5b83\u53ef\u4ee5\u5b8c\u6210\u672c\u6b21\u6293\u53d6\u5b9e\u9a8c\u6240\u9700\u7684\u62ac\u5347\u4e0e\u8f6c\u79fb&#xff0c;\u4f46\u4e0d\u5e94\u88ab\u63cf\u8ff0\u6210\u673a\u68b0\u81c2\u3002<\/p>\n<h4>3. \u81ea\u7531\u7403\u4f53<\/h4>\n<p>\u5f53\u524d\u6293\u53d6\u7269\u4f53\u662f\u4e00\u9897\u7403&#xff1a;<\/p>\n<table>\n<tr>\u53c2\u6570\u5f53\u524d\u8bbe\u7f6e<\/tr>\n<tbody>\n<tr>\n<td>\u534a\u5f84<\/td>\n<td>35 mm<\/td>\n<\/tr>\n<tr>\n<td>\u8d28\u91cf<\/td>\n<td>50 g<\/td>\n<\/tr>\n<tr>\n<td>\u81ea\u7531\u5ea6<\/td>\n<td>\u516d\u81ea\u7531\u5ea6\u81ea\u7531\u5173\u8282<\/td>\n<\/tr>\n<tr>\n<td>\u63a5\u89e6\u6a21\u578b<\/td>\n<td>\u516d\u7ef4\u63a5\u89e6<\/td>\n<\/tr>\n<tr>\n<td>\u521d\u59cb\u4f4d\u7f6e<\/td>\n<td>\u6e90\u652f\u5ea7\u4e0a\u65b9<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u7403\u4f53\u5728\u4efb\u52a1\u521d\u59cb\u5316\u65f6\u53ef\u4ee5\u52a0\u5165\u6709\u9650\u7684 X\/Y \u4f4d\u7f6e\u504f\u5dee\u3002\u4eff\u771f\u5f00\u59cb\u540e&#xff0c;\u7a0b\u5e8f\u4e0d\u518d\u76f4\u63a5\u5199\u5165\u5b83\u7684\u4f4d\u59ff\u3002<\/p>\n<h4>4. \u6e90\u652f\u5ea7\u4e0e\u76ee\u6807\u6258\u76d8<\/h4>\n<p>\u7403\u4f53\u6700\u521d\u4f4d\u4e8e\u6e90\u652f\u5ea7&#xff0c;\u4efb\u52a1\u7ed3\u675f\u65f6\u9700\u8981\u843d\u5728\u7eff\u8272\u76ee\u6807\u6258\u76d8\u4e0a\u3002\u6258\u76d8\u5e26\u6709\u6321\u8fb9&#xff0c;\u5e76\u4f7f\u7528\u660e\u786e\u8bbe\u5b9a\u7684\u63a5\u89e6\u4e0e\u6eda\u52a8\u6469\u64e6\u53c2\u6570\u3002<\/p>\n<p>\u8fd9\u4e9b\u53c2\u6570\u7528\u4e8e\u6784\u5efa\u672c\u6b21\u540d\u4e49\u63a5\u6536\u57ab&#xff0c;\u5e76\u6ca1\u6709\u7ecf\u8fc7\u771f\u5b9e\u6750\u6599\u5b9e\u9a8c\u6807\u5b9a\u3002\u56e0\u6b64\u6587\u7ae0\u4e2d\u7684\u7ed3\u679c\u5c5e\u4e8e\u4eff\u771f\u5de5\u7a0b\u9a8c\u8bc1&#xff0c;\u4e0d\u662f\u5b9e\u7269\u6469\u64e6\u6027\u80fd\u7ed3\u8bba\u3002<\/p>\n<hr \/>\n<h3>\u56db\u3001\u5de5\u7a0b\u76ee\u5f55<\/h3>\n<p>\u514b\u9686\u9879\u76ee\u540e&#xff0c;\u5de5\u7a0b\u4e94\u7684\u4e3b\u8981\u76ee\u5f55\u5982\u4e0b&#xff1a;<\/p>\n<p>05-dexterous-hand\/<br \/>\n\u251c\u2500\u2500 README.md<br \/>\n\u251c\u2500\u2500 LICENSE<br \/>\n\u251c\u2500\u2500 THIRD_PARTY_NOTICES.md<br \/>\n\u251c\u2500\u2500 requirements.txt<br \/>\n\u251c\u2500\u2500 run_demo.sh<br \/>\n\u251c\u2500\u2500 scripts\/<br \/>\n\u2502   \u251c\u2500\u2500 setup.sh<br \/>\n\u2502   \u251c\u2500\u2500 doctor.sh<br \/>\n\u2502   \u251c\u2500\u2500 test.sh<br \/>\n\u2502   \u251c\u2500\u2500 batch.py<br \/>\n\u2502   \u251c\u2500\u2500 prepare_assets.py<br \/>\n\u2502   \u251c\u2500\u2500 probe_grasp.py<br \/>\n\u2502   \u2514\u2500\u2500 verify_gui.py<br \/>\n\u251c\u2500\u2500 src\/hand005\/<br \/>\n\u2502   \u251c\u2500\u2500 app.py<br \/>\n\u2502   \u251c\u2500\u2500 core.py<br \/>\n\u2502   \u251c\u2500\u2500 model.py<br \/>\n\u2502   \u2514\u2500\u2500 panel.py<br \/>\n\u251c\u2500\u2500 tests\/<br \/>\n\u2502   \u251c\u2500\u2500 test_core.py<br \/>\n\u2502   \u2514\u2500\u2500 test_physics.py<br \/>\n\u2514\u2500\u2500 docs\/<br \/>\n    \u251c\u2500\u2500 images\/<br \/>\n    \u2502   \u251c\u2500\u2500 first-lift-calibration.png<br \/>\n    \u2502   \u251c\u2500\u2500 grasp-hold.png<br \/>\n    \u2502   \u2514\u2500\u2500 placed.png<br \/>\n    \u2514\u2500\u2500 evidence\/<br \/>\n        \u251c\u2500\u2500 nominal-report.json<br \/>\n        \u251c\u2500\u2500 batch-final.json<br \/>\n        \u251c\u2500\u2500 gui-verification.json<br \/>\n        \u251c\u2500\u2500 gui-report.json<br \/>\n        \u251c\u2500\u2500 batch-before-release-fix.json<br \/>\n        \u2514\u2500\u2500 batch-pad-only.json<\/p>\n<p>\u5404\u6a21\u5757\u7684\u804c\u8d23\u6bd4\u8f83\u6e05\u695a&#xff1a;<\/p>\n<ul>\n<li>core.py&#xff1a;\u52a8\u4f5c\u76ee\u6807\u3001\u5e73\u6ed1\u63a7\u5236\u548c\u6293\u53d6\u72b6\u6001\u673a&#xff1b;<\/li>\n<li>model.py&#xff1a;\u52a0\u8f7d\u6a21\u578b\u3001\u6821\u9a8c\u8d44\u6e90\u548c\u8bfb\u53d6\u63a5\u89e6\u6d4b\u91cf&#xff1b;<\/li>\n<li>app.py&#xff1a;\u4eff\u771f\u4e3b\u5faa\u73af\u3001\u62a5\u544a\u3001\u8f68\u8ff9\u548c\u622a\u56fe&#xff1b;<\/li>\n<li>panel.py&#xff1a;\u72ec\u7acb Tk \u63a7\u5236\u9762\u677f&#xff1b;<\/li>\n<li>tests\/&#xff1a;\u72b6\u6001\u673a\u903b\u8f91\u4e0e\u5b8c\u6574\u7269\u7406\u4efb\u52a1\u6d4b\u8bd5&#xff1b;<\/li>\n<li>docs\/evidence\/&#xff1a;\u6210\u529f\u7ed3\u679c\u548c\u5f00\u53d1\u8fc7\u7a0b\u4e2d\u7684\u5931\u8d25\u8bc1\u636e\u3002<\/li>\n<\/ul>\n<hr \/>\n<h3>\u4e94\u3001\u4ece GitHub \u5b89\u88c5<\/h3>\n<p>\u5b8c\u6574\u4ee3\u7801\u5df2\u7ecf\u4e0a\u4f20\u5230 GitHub&#xff1a;<\/p>\n<p>https:\/\/github.com\/zephastra\/robotics\/tree\/main\/projects\/05-dexterous-hand<\/p>\n<p>\u5728 Linux \u6216 WSL \u4e2d\u6267\u884c&#xff1a;<\/p>\n<p><span class=\"token function\">git<\/span> clone https:\/\/github.com\/zephastra\/robotics.git<br \/>\n<span class=\"token builtin class-name\">cd<\/span> robotics\/projects\/05-dexterous-hand<br \/>\n<span class=\"token function\">bash<\/span> scripts\/setup.sh<br \/>\n<span class=\"token function\">bash<\/span> scripts\/doctor.sh<\/p>\n<p>\u672c\u673a\u9a8c\u8bc1\u73af\u5883\u4e3a&#xff1a;<\/p>\n<p>Windows 11<br \/>\nWSL2 \/ WSLg<br \/>\nUbuntu 26.04<br \/>\nPython 3.12.13<br \/>\nMuJoCo 3.3.6<br \/>\nNumPy 2.2.6<br \/>\npytest 8.4.2<br \/>\nPillow 11.3.0<\/p>\n<p>\u5b89\u88c5\u811a\u672c\u4f1a\u5b8c\u6210\u4ee5\u4e0b\u5de5\u4f5c&#xff1a;<\/p>\n<li>\u521b\u5efa\u672c\u5de5\u7a0b\u72ec\u7acb\u7684 .venv&#xff1b;<\/li>\n<li>\u6309\u56fa\u5b9a\u7248\u672c\u5b89\u88c5 Python \u4f9d\u8d56&#xff1b;<\/li>\n<li>\u4ece\u56fa\u5b9a\u63d0\u4ea4\u83b7\u53d6 MuJoCo Menagerie \u4e2d\u7684 Allegro Hand \u6a21\u578b&#xff1b;<\/li>\n<li>\u751f\u6210\u5f53\u524d\u5b9e\u9a8c\u573a\u666f&#xff1b;<\/li>\n<li>\u4fdd\u5b58\u8d44\u6e90\u6765\u6e90\u3001\u7248\u672c\u548c SHA-256 \u6821\u9a8c\u503c\u3002<\/li>\n<p>\u8fd0\u884c\u524d\u4f1a\u518d\u6b21\u68c0\u67e5\u8d44\u6e90\u54c8\u5e0c\u3002\u5982\u679c\u6587\u4ef6\u7f3a\u5931\u6216\u88ab\u610f\u5916\u4fee\u6539&#xff0c;\u7a0b\u5e8f\u4f1a\u76f4\u63a5\u62a5\u9519&#xff0c;\u4e0d\u4f1a\u5728\u8d44\u6e90\u72b6\u6001\u4e0d\u660e\u7684\u60c5\u51b5\u4e0b\u7ee7\u7eed\u8fd0\u884c\u3002<\/p>\n<p>\u76ee\u524d\u5df2\u7ecf\u5728\u4e0a\u8ff0\u672c\u673a\u73af\u5883\u4e2d\u9a8c\u8bc1&#xff0c;\u4f46\u5168\u65b0\u673a\u5668\u7684\u5b8c\u6574\u590d\u73b0\u4ecd\u5f85\u72ec\u7acb\u9a8c\u6536\u3002\u8fd9\u4e00\u70b9\u4e0d\u5e94\u7701\u7565\u3002<\/p>\n<hr \/>\n<h3>\u516d\u3001\u8fd0\u884c\u81ea\u52a8\u6293\u53d6\u4efb\u52a1<\/h3>\n<p>\u6267\u884c&#xff1a;<\/p>\n<p><span class=\"token function\">bash<\/span> run_demo.sh <span class=\"token parameter variable\">&#8211;mode<\/span> demo<\/p>\n<p>\u7a0b\u5e8f\u4f1a\u6253\u5f00 MuJoCo \u7a97\u53e3&#xff0c;\u5e76\u81ea\u52a8\u8fd0\u884c\u4e00\u8f6e\u5b8c\u6574\u4efb\u52a1&#xff1a;<\/p>\n<p>SETTLE<br \/>\n  \u2192 CLOSE<br \/>\n  \u2192 VERIFY_GRASP<br \/>\n  \u2192 LIFT<br \/>\n  \u2192 HOLD<br \/>\n  \u2192 TRANSFER<br \/>\n  \u2192 LOWER<br \/>\n  \u2192 RELEASE<br \/>\n  \u2192 VERIFY_PLACE<br \/>\n  \u2192 COMPLETED \/ FAILED<\/p>\n<p>\u5982\u679c\u5e0c\u671b\u4efb\u52a1\u7ed3\u675f\u540e\u4fdd\u7559\u7a97\u53e3&#xff1a;<\/p>\n<p><span class=\"token function\">bash<\/span> run_demo.sh <span class=\"token parameter variable\">&#8211;mode<\/span> demo &#8211;keep-open<\/p>\n<p>\u5982\u679c\u53ea\u8fdb\u884c\u65e0\u754c\u9762\u9a8c\u6536&#xff1a;<\/p>\n<p><span class=\"token function\">bash<\/span> run_demo.sh <span class=\"token parameter variable\">&#8211;mode<\/span> demo <span class=\"token parameter variable\">&#8211;headless<\/span><\/p>\n<p>\u9700\u8981\u4fdd\u5b58\u5173\u952e\u9636\u6bb5\u622a\u56fe\u65f6&#xff0c;\u53ef\u4ee5\u5728\u652f\u6301 EGL \u7684\u73af\u5883\u4e2d\u6267\u884c&#xff1a;<\/p>\n<p><span class=\"token assign-left variable\">MUJOCO_GL<\/span><span class=\"token operator\">&#061;<\/span>egl <span class=\"token function\">bash<\/span> run_demo.sh <span class=\"token parameter variable\">&#8211;mode<\/span> demo <span class=\"token parameter variable\">&#8211;headless<\/span> <span class=\"token parameter variable\">&#8211;snapshot<\/span><\/p>\n<p>WSLg \u4e0b\u5982\u679c\u56fe\u5f62\u6e32\u67d3\u5b58\u5728\u517c\u5bb9\u95ee\u9898&#xff0c;\u8fd8\u53ef\u4ee5\u5207\u6362\u5230\u8f6f\u4ef6\u6e32\u67d3&#xff1a;<\/p>\n<p><span class=\"token assign-left variable\">H005_RENDERER<\/span><span class=\"token operator\">&#061;<\/span>software <span class=\"token function\">bash<\/span> run_demo.sh<\/p>\n<hr \/>\n<h3>\u4e03\u3001\u6293\u53d6\u72b6\u6001\u673a\u662f\u5982\u4f55\u5de5\u4f5c\u7684&#xff1f;<\/h3>\n<h4>1. SETTLE&#xff1a;\u5f20\u5f00\u5e76\u7b49\u5f85\u7a33\u5b9a<\/h4>\n<p>\u4efb\u52a1\u5f00\u59cb\u540e&#xff0c;\u624b\u6307\u4fdd\u6301\u5f20\u5f00\u59ff\u6001&#xff0c;\u7403\u4f53\u5728\u6e90\u652f\u5ea7\u4e0a\u7a33\u5b9a 1 \u79d2\u3002<\/p>\n<p>\u8fd9\u4e00\u6b65\u53ef\u4ee5\u907f\u514d\u521d\u59cb\u5316\u77ac\u95f4\u7684\u63a5\u89e6\u6296\u52a8\u76f4\u63a5\u5f71\u54cd\u540e\u7eed\u5224\u65ad\u3002<\/p>\n<h4>2. CLOSE&#xff1a;\u6e10\u8fdb\u5408\u62e2<\/h4>\n<p>\u624b\u6307\u4e0d\u4f1a\u4e00\u6b65\u8df3\u5230\u6700\u7ec8\u5305\u7edc\u59ff\u6001&#xff0c;\u800c\u662f\u5728\u7ea6 2 \u79d2\u5185\u4ece OPEN \u63d2\u503c\u5230 GRASP&#xff0c;\u968f\u540e\u7559\u51fa\u989d\u5916\u7a33\u5b9a\u65f6\u95f4\u3002<\/p>\n<p>\u6838\u5fc3\u5f62\u5f0f\u53ef\u4ee5\u5199\u6210&#xff1a;<\/p>\n<p>hand <span class=\"token operator\">&#061;<\/span> OPEN <span class=\"token operator\">&#043;<\/span> np<span class=\"token punctuation\">.<\/span>clip<span class=\"token punctuation\">(<\/span>age <span class=\"token operator\">\/<\/span> <span class=\"token number\">2.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">*<\/span> <span class=\"token punctuation\">(<\/span>GRASP <span class=\"token operator\">&#8211;<\/span> OPEN<span class=\"token punctuation\">)<\/span><\/p>\n<p>\u4e3b\u5faa\u73af\u8fd8\u4f1a\u5bf9\u6240\u6709\u5173\u8282\u76ee\u6807\u8fdb\u884c\u901f\u5ea6\u9650\u5236&#xff1a;<\/p>\n<p><span class=\"token keyword\">def<\/span> <span class=\"token function\">slew<\/span><span class=\"token punctuation\">(<\/span>current<span class=\"token punctuation\">,<\/span> target<span class=\"token punctuation\">,<\/span> rates<span class=\"token punctuation\">,<\/span> dt<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n    delta <span class=\"token operator\">&#061;<\/span> np<span class=\"token punctuation\">.<\/span>clip<span class=\"token punctuation\">(<\/span>target <span class=\"token operator\">&#8211;<\/span> current<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&#8211;<\/span>rates <span class=\"token operator\">*<\/span> dt<span class=\"token punctuation\">,<\/span> rates <span class=\"token operator\">*<\/span> dt<span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> current <span class=\"token operator\">&#043;<\/span> delta<\/p>\n<p>\u8fd9\u6837\u53ef\u4ee5\u907f\u514d\u5173\u8282\u76ee\u6807\u7a81\u53d8\u9020\u6210\u4e0d\u5fc5\u8981\u7684\u51b2\u51fb\u3002<\/p>\n<h4>3. VERIFY_GRASP&#xff1a;\u786e\u8ba4\u591a\u6307\u5bf9\u5411\u63a5\u89e6<\/h4>\n<p>\u5de5\u7a0b\u6ca1\u6709\u628a\u201c\u4efb\u610f\u4e00\u6b21\u78b0\u649e\u201d\u5f53\u6210\u6293\u53d6\u6210\u529f&#xff0c;\u800c\u662f\u8981\u6c42&#xff1a;<\/p>\n<ul>\n<li>\u62c7\u6307\u6cd5\u5411\u63a5\u89e6\u529b\u5927\u4e8e 0.02 N&#xff1b;<\/li>\n<li>\u98df\u6307\u3001\u4e2d\u6307\u3001\u65e0\u540d\u6307\u4e2d\u81f3\u5c11\u4e24\u6839\u7684\u6cd5\u5411\u63a5\u89e6\u529b\u5927\u4e8e 0.02 N&#xff1b;<\/li>\n<li>\u4e0a\u8ff0\u6761\u4ef6\u8fde\u7eed\u4fdd\u6301 0.5 s\u3002<\/li>\n<\/ul>\n<p>\u5bf9\u5e94\u7684\u5224\u65ad\u903b\u8f91\u4e3a&#xff1a;<\/p>\n<p><span class=\"token keyword\">def<\/span> <span class=\"token function\">supported_grasp<\/span><span class=\"token punctuation\">(<\/span>obs<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">:<\/span><br \/>\n    forces <span class=\"token operator\">&#061;<\/span> obs<span class=\"token punctuation\">[<\/span><span class=\"token string\">&#034;finger_forces&#034;<\/span><span class=\"token punctuation\">]<\/span><br \/>\n    thumb_ok <span class=\"token operator\">&#061;<\/span> forces<span class=\"token punctuation\">[<\/span><span class=\"token string\">&#034;th&#034;<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">0.02<\/span><br \/>\n    other_count <span class=\"token operator\">&#061;<\/span> <span class=\"token builtin\">sum<\/span><span class=\"token punctuation\">(<\/span>forces<span class=\"token punctuation\">[<\/span>k<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">0.02<\/span> <span class=\"token keyword\">for<\/span> k <span class=\"token keyword\">in<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;ff&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;mf&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;rf&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">return<\/span> thumb_ok <span class=\"token keyword\">and<\/span> other_count <span class=\"token operator\">&gt;&#061;<\/span> <span class=\"token number\">2<\/span><\/p>\n<p>\u8fd9\u4e0d\u662f\u4e25\u683c\u7684\u529b\u95ed\u5408\u5206\u6790&#xff0c;\u4f46\u6bd4\u201c\u624b\u6307\u89d2\u5ea6\u5230\u4e86&#xff0c;\u6240\u4ee5\u6293\u4f4f\u4e86\u201d\u66f4\u53ef\u9760\u3002\u82e5 3 \u79d2\u5185\u65e0\u6cd5\u5efa\u7acb\u6ee1\u8db3\u6761\u4ef6\u7684\u63a5\u89e6&#xff0c;\u4efb\u52a1\u4ee5 NO_OPPOSED_GRASP \u5931\u8d25\u3002<\/p>\n<h4>4. LIFT&#xff1a;\u62ac\u5347\u5e76\u8131\u79bb\u6e90\u652f\u5ea7<\/h4>\n<p>\u63a5\u89e6\u786e\u8ba4\u540e&#xff0c;Z \u8f74\u5939\u5177\u547d\u4ee4\u62ac\u5347 12 cm\u3002\u72b6\u6001\u673a\u4e0d\u4f1a\u4ec5\u6839\u636e\u5939\u5177\u76ee\u6807\u5224\u65ad\u6210\u529f&#xff0c;\u800c\u662f\u68c0\u67e5\u7403\u4f53&#xff1a;<\/p>\n<ul>\n<li>\u76f8\u5bf9\u521d\u59cb\u4f4d\u7f6e\u81f3\u5c11\u4e0a\u5347 9 cm&#xff1b;<\/li>\n<li>\u5df2\u7ecf\u5931\u53bb\u4e0e\u6e90\u652f\u5ea7\u7684\u63a5\u89e6\u3002<\/li>\n<\/ul>\n<p>\u5982\u679c\u5939\u5177\u5df2\u7ecf\u5b8c\u6210\u52a8\u4f5c&#xff0c;\u800c\u7403\u4f53\u6ca1\u6709\u6ee1\u8db3\u6761\u4ef6&#xff0c;\u4efb\u52a1\u8bb0\u5f55\u4e3a INSUFFICIENT_LIFT\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/09\/20260912135714-6aa55a3a55559.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h4>5. HOLD&#xff1a;\u9a8c\u8bc1\u7a33\u5b9a\u4fdd\u6301<\/h4>\n<p>\u8fdb\u5165\u4fdd\u6301\u9636\u6bb5\u65f6&#xff0c;\u7a0b\u5e8f\u8bb0\u5f55\u7403\u4f53\u76f8\u5bf9\u624b\u638c\u7684\u4f4d\u7f6e&#xff1a;<\/p>\n<p>hold_reference <span class=\"token operator\">&#061;<\/span> object_position <span class=\"token operator\">&#8211;<\/span> palm_position<\/p>\n<p>\u968f\u540e\u8fde\u7eed\u4fdd\u6301 2 \u79d2\u3002\u5982\u679c\u7403\u4f53\u76f8\u5bf9\u624b\u638c\u7684\u4f4d\u79fb\u8d85\u8fc7 2 cm&#xff0c;\u5219\u5224\u5b9a\u53d1\u751f\u6ed1\u79fb&#xff1a;<\/p>\n<p>OBJECT_SLIPPED<\/p>\n<p>\u8fd9\u4e00\u6b65\u7528\u6765\u533a\u5206\u201c\u77ed\u6682\u5e26\u8d77\u6765\u201d\u548c\u201c\u80fd\u591f\u7a33\u5b9a\u6301\u6709\u201d\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/09\/20260912135714-6aa55a3abfb59.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h4>6. TRANSFER&#xff1a;\u6a2a\u5411\u8f6c\u79fb<\/h4>\n<p>\u4fdd\u6301\u901a\u8fc7\u540e&#xff0c;\u4e24\u8f74\u5939\u5177\u7ef4\u6301\u62ac\u5347\u9ad8\u5ea6&#xff0c;\u540c\u65f6\u6cbf Y \u65b9\u5411\u79fb\u52a8 20 cm\u3002<\/p>\n<p>\u5728 LIFT\u3001HOLD\u3001TRANSFER \u548c LOWER \u9636\u6bb5&#xff0c;\u7a0b\u5e8f\u6301\u7eed\u68c0\u67e5\u591a\u6307\u63a5\u89e6\u3002\u5982\u679c\u63a5\u89e6\u6761\u4ef6\u8fde\u7eed\u4e22\u5931\u8d85\u8fc7 0.5 \u79d2&#xff0c;\u4efb\u52a1\u7acb\u5373\u8bb0\u5f55&#xff1a;<\/p>\n<p>LOST_FINGER_CONTACT<\/p>\n<p>\u77ed\u6682\u63a5\u89e6\u6ce2\u52a8\u4e0d\u4f1a\u9a6c\u4e0a\u5931\u8d25&#xff0c;\u6301\u7eed\u5931\u53bb\u63a5\u89e6\u624d\u4f1a\u89e6\u53d1\u7ec8\u6b62\u3002<\/p>\n<h4>7. LOWER&#xff1a;\u4e0b\u964d\u5230\u91ca\u653e\u9ad8\u5ea6<\/h4>\n<p>\u5230\u8fbe\u6258\u76d8\u4e0a\u65b9\u540e&#xff0c;\u5939\u5177\u4e0b\u964d\u3002\u624b\u6307\u6b64\u65f6\u4ecd\u4fdd\u6301\u5305\u7edc\u59ff\u6001&#xff0c;\u9632\u6b62\u7403\u4f53\u63d0\u524d\u6eda\u843d\u3002<\/p>\n<p>\u91ca\u653e\u9ad8\u5ea6\u4e0d\u662f\u8d8a\u4f4e\u8d8a\u597d\u3002\u5982\u679c\u624b\u638c\u548c\u624b\u6307\u8fc7\u5ea6\u538b\u5411\u6258\u76d8&#xff0c;\u5f20\u5f00\u65f6\u53ef\u80fd\u7ee7\u7eed\u652f\u6491\u6216\u62e8\u52a8\u7269\u4f53&#xff0c;\u53cd\u800c\u9020\u6210\u653e\u7f6e\u5931\u8d25\u3002<\/p>\n<h4>8. RELEASE&#xff1a;\u5f20\u5f00\u5e76\u4e3b\u52a8\u64a4\u624b<\/h4>\n<p>\u91ca\u653e\u9636\u6bb5\u540c\u65f6\u6267\u884c\u4e24\u4e2a\u52a8\u4f5c&#xff1a;<\/p>\n<li>\u624b\u6307\u4ece GRASP \u5e73\u6ed1\u8fc7\u6e21\u5230 OPEN&#xff1b;<\/li>\n<li>\u5939\u5177\u5728\u5f20\u5f00\u8fc7\u7a0b\u4e2d\u5411\u4e0a\u64a4\u79bb\u3002<\/li>\n<p>\u201c\u64a4\u624b\u201d\u975e\u5e38\u5173\u952e\u3002\u53ea\u6709\u624b\u6307\u79bb\u5f00\u7269\u4f53\u4e4b\u540e&#xff0c;\u624d\u80fd\u786e\u8ba4\u7403\u4f53\u662f\u7531\u6258\u76d8\u72ec\u7acb\u652f\u6491&#xff0c;\u800c\u4e0d\u662f\u4ecd\u7136\u5361\u5728\u6307\u5c16\u4e4b\u95f4\u3002<\/p>\n<h4>9. VERIFY_PLACE&#xff1a;\u8fde\u7eed\u9a8c\u8bc1\u653e\u7f6e\u7ed3\u679c<\/h4>\n<p>\u6700\u7ec8\u6210\u529f\u9700\u8981\u540c\u65f6\u6ee1\u8db3&#xff1a;<\/p>\n<ul>\n<li>\u7403\u5fc3\u4f4d\u4e8e\u76ee\u6807\u4e2d\u5fc3 X\/Y \u5404 \u00b13.5 cm \u5185&#xff1b;<\/li>\n<li>\u7403\u5fc3\u9ad8\u5ea6\u7ea6\u4e3a 20.5 cm \u00b1 1.2 cm&#xff1b;<\/li>\n<li>\u7403\u4f53\u4e0e\u76ee\u6807\u6258\u76d8\u63a5\u89e6&#xff1b;<\/li>\n<li>\u6240\u6709\u624b\u6307\u63a5\u89e6\u529b\u4e4b\u548c\u4f4e\u4e8e 0.02 N&#xff1b;<\/li>\n<li>\u7403\u4f53\u901f\u5ea6\u4f4e\u4e8e 0.02 m\/s&#xff1b;<\/li>\n<li>\u4e0a\u8ff0\u6761\u4ef6\u8fde\u7eed\u4fdd\u6301 1 \u79d2\u3002<\/li>\n<\/ul>\n<p>\u4efb\u4f55\u4e00\u9879\u77ed\u6682\u6ee1\u8db3\u90fd\u4e0d\u591f\u30025 \u79d2\u5185\u4e0d\u80fd\u5b8c\u6210\u7a33\u5b9a\u9a8c\u6536\u65f6&#xff0c;\u4efb\u52a1\u8fd4\u56de&#xff1a;<\/p>\n<p>PLACEMENT_NOT_STABLE<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/09\/20260912135715-6aa55a3b002de.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<hr \/>\n<h3>\u516b\u3001MuJoCo \u63a5\u89e6\u529b\u5982\u4f55\u8bfb\u53d6&#xff1f;<\/h3>\n<p>\u72b6\u6001\u673a\u9700\u8981\u77e5\u9053\u54ea\u6839\u624b\u6307\u6b63\u5728\u63a5\u89e6\u7403\u4f53&#xff0c;\u4ee5\u53ca\u6cd5\u5411\u63a5\u89e6\u529b\u6709\u591a\u5927\u3002<\/p>\n<p>\u7a0b\u5e8f\u9996\u5148\u904d\u5386\u5f53\u524d\u63a5\u89e6\u5bf9&#xff0c;\u53ea\u4fdd\u7559\u5305\u542b\u7403\u4f53\u78b0\u649e\u51e0\u4f55\u7684\u63a5\u89e6&#xff1b;\u7136\u540e\u8bc6\u522b\u53e6\u4e00\u4fa7\u51e0\u4f55\u6240\u5c5e\u7684\u624b\u6307&#xff0c;\u4f7f\u7528 MuJoCo \u7684\u63a5\u89e6\u529b\u63a5\u53e3\u8bfb\u53d6\u516d\u7ef4\u63a5\u89e6\u91cf&#xff1a;<\/p>\n<p>force <span class=\"token operator\">&#061;<\/span> np<span class=\"token punctuation\">.<\/span>zeros<span class=\"token punctuation\">(<\/span><span class=\"token number\">6<\/span><span class=\"token punctuation\">)<\/span><br \/>\nmujoco<span class=\"token punctuation\">.<\/span>mj_contactForce<span class=\"token punctuation\">(<\/span>model<span class=\"token punctuation\">,<\/span> data<span class=\"token punctuation\">,<\/span> contact_id<span class=\"token punctuation\">,<\/span> force<span class=\"token punctuation\">)<\/span><br \/>\nnormal_force <span class=\"token operator\">&#061;<\/span> <span class=\"token builtin\">max<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">0.0<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token builtin\">float<\/span><span class=\"token punctuation\">(<\/span>force<span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>\u540c\u4e00\u6839\u624b\u6307\u53ef\u80fd\u901a\u8fc7\u591a\u4e2a\u51e0\u4f55\u6216\u591a\u4e2a\u63a5\u89e6\u70b9\u540c\u65f6\u63a5\u89e6\u7403\u4f53&#xff0c;\u6240\u4ee5\u7a0b\u5e8f\u4f1a\u6309\u624b\u6307\u7d2f\u8ba1\u6cd5\u5411\u529b&#xff1a;<\/p>\n<p>ff&#xff1a;\u98df\u6307\u63a5\u89e6\u529b\u4e4b\u548c<br \/>\nmf&#xff1a;\u4e2d\u6307\u63a5\u89e6\u529b\u4e4b\u548c<br \/>\nrf&#xff1a;\u65e0\u540d\u6307\u63a5\u89e6\u529b\u4e4b\u548c<br \/>\nth&#xff1a;\u62c7\u6307\u63a5\u89e6\u529b\u4e4b\u548c<\/p>\n<p>\u540c\u65f6&#xff0c;\u7a0b\u5e8f\u8fd8\u4f1a\u8bc6\u522b&#xff1a;<\/p>\n<ul>\n<li>source_contact&#xff1a;\u7403\u4f53\u662f\u5426\u4ecd\u7531\u6e90\u652f\u5ea7\u652f\u6491&#xff1b;<\/li>\n<li>tray_contact&#xff1a;\u7403\u4f53\u662f\u5426\u5df2\u7ecf\u843d\u5728\u76ee\u6807\u6258\u76d8\u4e0a&#xff1b;<\/li>\n<li>speed&#xff1a;\u7403\u4f53\u7ebf\u901f\u5ea6&#xff1b;<\/li>\n<li>relative_object&#xff1a;\u7403\u4f53\u76f8\u5bf9\u624b\u638c\u7684\u4f4d\u7f6e\u3002<\/li>\n<\/ul>\n<p>\u9700\u8981\u6ce8\u610f&#xff0c;\u8fd9\u4e9b\u63a5\u89e6\u529b\u662f MuJoCo \u63a5\u89e6\u6c42\u89e3\u5668\u7ed9\u51fa\u7684\u4eff\u771f\u91cf&#xff0c;\u4e0d\u662f\u771f\u5b9e\u7075\u5de7\u624b\u7684\u89e6\u89c9\u4f20\u611f\u5668\u8bfb\u6570\u3002<\/p>\n<hr \/>\n<h3>\u4e5d\u3001\u5931\u8d25\u5173\u95ed&#xff1a;\u6761\u4ef6\u4e0d\u6ee1\u8db3\u5c31\u4e0d\u80fd\u7b97\u6210\u529f<\/h3>\n<p>\u672c\u5de5\u7a0b\u91c7\u7528 fail-closed \u601d\u8def&#xff1a;\u65e0\u6cd5\u8bc1\u660e\u6210\u529f\u65f6&#xff0c;\u4e0d\u628a\u4efb\u52a1\u6807\u8bb0\u4e3a\u6210\u529f\u3002<\/p>\n<table>\n<tr>\u5931\u8d25\u539f\u56e0\u542b\u4e49<\/tr>\n<tbody>\n<tr>\n<td>NO_OPPOSED_GRASP<\/td>\n<td>\u6ca1\u6709\u5f62\u6210\u62c7\u6307\u4e0e\u81f3\u5c11\u4e24\u6839\u5176\u4ed6\u624b\u6307\u7684\u6301\u7eed\u63a5\u89e6<\/td>\n<\/tr>\n<tr>\n<td>INSUFFICIENT_LIFT<\/td>\n<td>\u7403\u4f53\u6ca1\u6709\u8fbe\u5230\u6700\u4f4e\u62ac\u5347\u9ad8\u5ea6\u6216\u4ecd\u63a5\u89e6\u6e90\u652f\u5ea7<\/td>\n<\/tr>\n<tr>\n<td>LOST_FINGER_CONTACT<\/td>\n<td>\u642c\u8fd0\u9636\u6bb5\u6301\u7eed\u5931\u53bb\u8981\u6c42\u7684\u591a\u6307\u63a5\u89e6<\/td>\n<\/tr>\n<tr>\n<td>OBJECT_SLIPPED<\/td>\n<td>\u4fdd\u6301\u9636\u6bb5\u7403\u4f53\u76f8\u5bf9\u624b\u638c\u79fb\u52a8\u8d85\u8fc7 2 cm<\/td>\n<\/tr>\n<tr>\n<td>OBJECT_DROPPED<\/td>\n<td>\u7403\u4f53\u9ad8\u5ea6\u4f4e\u4e8e 10 cm<\/td>\n<\/tr>\n<tr>\n<td>PLACEMENT_NOT_STABLE<\/td>\n<td>\u6258\u76d8\u4f4d\u7f6e\u3001\u652f\u6491\u3001\u901f\u5ea6\u6216\u64a4\u624b\u6761\u4ef6\u672a\u8fde\u7eed\u6ee1\u8db3<\/td>\n<\/tr>\n<tr>\n<td>NONFINITE_STATE<\/td>\n<td>\u4eff\u771f\u72b6\u6001\u51fa\u73b0\u975e\u6709\u9650\u503c<\/td>\n<\/tr>\n<tr>\n<td>EXTERNAL_TIME_RESET<\/td>\n<td>\u8fd0\u884c\u671f\u95f4\u68c0\u6d4b\u5230\u5916\u90e8\u4eff\u771f\u65f6\u949f\u91cd\u7f6e<\/td>\n<\/tr>\n<tr>\n<td>TIMEOUT<\/td>\n<td>\u5728\u89c4\u5b9a\u65f6\u95f4\u5185\u6ca1\u6709\u5b8c\u6210\u4efb\u52a1<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u8fd9\u4e9b\u5931\u8d25\u4e0d\u662f\u201c\u96be\u770b\u7684\u7ea2\u8272\u7ed3\u679c\u201d&#xff0c;\u800c\u662f\u5de5\u7a0b\u4fe1\u606f\u3002\u53ea\u6709\u77e5\u9053\u5728\u54ea\u4e2a\u9636\u6bb5\u5931\u8d25&#xff0c;\u624d\u80fd\u5224\u65ad\u95ee\u9898\u6765\u81ea\u63a5\u89e6\u59ff\u6001\u3001\u6469\u64e6\u53c2\u6570\u3001\u62ac\u5347\u8f68\u8ff9\u3001\u91ca\u653e\u9ad8\u5ea6\u8fd8\u662f\u9a8c\u6536\u903b\u8f91\u3002<\/p>\n<hr \/>\n<h3>\u5341\u3001\u624b\u52a8\u63a7\u5236\u9762\u677f<\/h3>\n<p>\u4e0d\u5e26\u53c2\u6570\u6267\u884c&#xff1a;<\/p>\n<p><span class=\"token function\">bash<\/span> run_demo.sh<\/p>\n<p>\u7a0b\u5e8f\u4f1a\u6253\u5f00 MuJoCo \u4eff\u771f\u7a97\u53e3\u548c\u72ec\u7acb\u7684 005 Hand Controls \u63a7\u5236\u7a97\u53e3\u3002<\/p>\n<p>\u64cd\u4f5c\u65f6\u5e94\u70b9\u51fb\u63a7\u5236\u9762\u677f&#xff0c;\u800c\u4e0d\u662f\u5728 MuJoCo \u7a97\u53e3\u4e2d\u6309\u952e\u3002<\/p>\n<table>\n<tr>\u63a7\u4ef6\u529f\u80fd<\/tr>\n<tbody>\n<tr>\n<td>Index \/ Middle \/ Ring \/ Thumb \u7684 J0&#xff5e;J3<\/td>\n<td>\u8bbe\u7f6e 16 \u4e2a\u624b\u6307\u5173\u8282\u76ee\u6807&#xff0c;\u5355\u4f4d rad<\/td>\n<\/tr>\n<tr>\n<td>1 Open<\/td>\n<td>\u5f20\u5f00\u624b\u6307<\/td>\n<\/tr>\n<tr>\n<td>2 Power pose<\/td>\n<td>\u591a\u6307\u5305\u7edc\u59ff\u6001<\/td>\n<\/tr>\n<tr>\n<td>3 Pinch pose<\/td>\n<td>\u62c7\u6307\u4e0e\u98df\u6307\u52a8\u4f5c\u9884\u8bbe<\/td>\n<\/tr>\n<tr>\n<td>Y transfer<\/td>\n<td>\u8bbe\u7f6e\u6a2a\u79fb\u5939\u5177\u4f4d\u7f6e<\/td>\n<\/tr>\n<tr>\n<td>Z lift<\/td>\n<td>\u8bbe\u7f6e\u62ac\u5347\u5939\u5177\u4f4d\u7f6e<\/td>\n<\/tr>\n<tr>\n<td>Run grasp demo<\/td>\n<td>\u4ece\u6e90\u4f4d\u7f6e\u542f\u52a8\u81ea\u52a8\u4efb\u52a1<\/td>\n<\/tr>\n<tr>\n<td>Cancel demo \/ hold<\/td>\n<td>\u4e2d\u6b62\u4efb\u52a1\u5e76\u4fdd\u6301\u5f53\u524d\u5173\u8282\u4f4d\u7f6e<\/td>\n<\/tr>\n<tr>\n<td>Pause \/ resume<\/td>\n<td>\u6682\u505c\u6216\u6062\u590d\u7269\u7406\u4eff\u771f<\/td>\n<\/tr>\n<tr>\n<td>Quit<\/td>\n<td>\u7ed3\u675f\u4f1a\u8bdd\u5e76\u4fdd\u5b58\u62a5\u544a<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u6ed1\u5757\u8868\u8fbe\u7684\u662f\u6301\u7eed\u4f4d\u7f6e\u76ee\u6807&#xff0c;\u4e0d\u662f\u9700\u8981\u6309\u4f4f\u7684\u901f\u5ea6\u6309\u94ae\u3002\u5931\u53bb\u7a97\u53e3\u7126\u70b9\u540e&#xff0c;\u76ee\u6807\u4e0d\u4f1a\u88ab\u81ea\u52a8\u6e05\u7a7a\u3002<\/p>\n<p>\u5982\u679c\u5728\u81ea\u52a8\u4efb\u52a1\u8fd0\u884c\u671f\u95f4\u64cd\u4f5c\u6ed1\u5757\u6216\u59ff\u6001\u6309\u94ae&#xff0c;\u7a0b\u5e8f\u4f1a&#xff1a;<\/p>\n<li>\u5c06\u5f53\u524d\u81ea\u52a8\u4efb\u52a1\u6807\u8bb0\u4e3a CANCELLED&#xff1b;<\/li>\n<li>\u8bb0\u5f55 MANUAL_OVERRIDE&#xff1b;<\/li>\n<li>\u628a\u63a7\u5236\u6743\u4ea4\u7ed9\u624b\u52a8\u76ee\u6807&#xff1b;<\/li>\n<li>\u4e0d\u4f1a\u628a\u88ab\u4eba\u5de5\u5e72\u9884\u7684\u4efb\u52a1\u7ee7\u7eed\u7edf\u8ba1\u4e3a\u81ea\u52a8\u6210\u529f\u3002<\/li>\n<p>\u53e6\u5916&#xff0c;Pinch pose \u76ee\u524d\u53ea\u662f\u62c7\u6307\u548c\u98df\u6307\u7684\u52a8\u4f5c\u9884\u8bbe&#xff0c;\u5c1a\u672a\u901a\u8fc7\u72ec\u7acb\u4e24\u6307\u634f\u53d6\u4efb\u52a1\u9a8c\u6536&#xff0c;\u4e0d\u80fd\u628a\u5b83\u63cf\u8ff0\u6210\u5df2\u7ecf\u5b9e\u73b0\u7a33\u5b9a\u634f\u53d6\u3002<\/p>\n<hr \/>\n<h3>\u5341\u4e00\u3001\u8fd9\u6b21\u6700\u503c\u5f97\u8bb0\u5f55\u7684\u4e09\u4e2a\u5751<\/h3>\n<h4>\u5751\u4e00&#xff1a;\u6293\u4f4f\u5e76\u4e0d\u7b49\u4e8e\u201c\u5173\u8282\u5230\u4f4d\u201d<\/h4>\n<p>\u65e9\u671f\u6700\u5bb9\u6613\u72af\u7684\u9519\u8bef&#xff0c;\u662f\u53ea\u68c0\u67e5\u5173\u8282\u76ee\u6807\u662f\u5426\u6267\u884c\u5b8c\u6210\u3002<\/p>\n<p>\u4f46\u624b\u6307\u89d2\u5ea6\u76f8\u540c&#xff0c;\u4e0d\u4ee3\u8868\u7269\u4f53\u4f4d\u7f6e\u3001\u63a5\u89e6\u7ec4\u5408\u548c\u652f\u6491\u72b6\u6001\u76f8\u540c\u3002\u6700\u7ec8\u65b9\u6848\u6539\u4e3a\u4f7f\u7528\u62c7\u6307\u4e0e\u81f3\u5c11\u4e24\u6839\u5176\u4ed6\u624b\u6307\u7684\u6301\u7eed\u6cd5\u5411\u63a5\u89e6\u4f5c\u4e3a\u6700\u4f4e\u6293\u53d6\u6761\u4ef6&#xff0c;\u5e76\u5728\u62ac\u5347\u540e\u7ee7\u7eed\u68c0\u67e5\u63a5\u89e6\u662f\u5426\u4e22\u5931\u3002<\/p>\n<h4>\u5751\u4e8c&#xff1a;\u63d0\u9ad8\u6258\u76d8\u6469\u64e6\u4e0d\u80fd\u4ee3\u66ff\u6b63\u786e\u91ca\u653e<\/h4>\n<p>\u5f00\u53d1\u8fc7\u7a0b\u4e2d\u66fe\u5c1d\u8bd5\u53ea\u6539\u53d8\u63a5\u6536\u57ab\u7684\u6469\u64e6\u53c2\u6570\u3002\u4e94\u6b21\u6709\u9650\u504f\u5dee\u8bd5\u9a8c\u7ed3\u679c\u4e3a&#xff1a;<\/p>\n<p>0 \/ 5 \u901a\u8fc7<\/p>\n<p>\u8fd9\u8bf4\u660e\u95ee\u9898\u4e0d\u53ea\u662f\u7403\u4f53\u843d\u5730\u540e\u6eda\u52a8\u3002\u82e5\u624b\u6307\u5728\u91ca\u653e\u8fc7\u7a0b\u4e2d\u4ecd\u7136\u652f\u6491\u6216\u62e8\u52a8\u7403\u4f53&#xff0c;\u5355\u7eaf\u589e\u52a0\u6469\u64e6\u5e76\u4e0d\u80fd\u5efa\u7acb\u7a33\u5b9a\u653e\u7f6e\u3002<\/p>\n<p>\u6b63\u786e\u4fee\u590d\u662f\u91cd\u65b0\u8bbe\u8ba1\u91ca\u653e\u8f68\u8ff9&#xff1a;\u964d\u4f4e\u5230\u5408\u9002\u9ad8\u5ea6&#xff0c;\u9010\u6e10\u5f20\u5f00&#xff0c;\u5e76\u5728\u5f20\u5f00\u8fc7\u7a0b\u4e2d\u5411\u4e0a\u64a4\u624b&#xff0c;\u8ba9\u7403\u4f53\u660e\u786e\u8f6c\u79fb\u5230\u6258\u76d8\u652f\u6491\u3002<\/p>\n<h4>\u5751\u4e09&#xff1a;\u4e00\u6b21\u6210\u529f\u4e0d\u80fd\u8bc1\u660e\u6d41\u7a0b\u7a33\u5b9a<\/h4>\n<p>\u4fee\u6539\u91ca\u653e\u8f68\u8ff9\u524d&#xff0c;\u4e94\u6b21\u6709\u9650\u521d\u59cb\u504f\u5dee\u8bd5\u9a8c\u53ea\u6709&#xff1a;<\/p>\n<p>3 \/ 5 \u901a\u8fc7<\/p>\n<p>\u5931\u8d25\u539f\u56e0\u5747\u4e3a&#xff1a;<\/p>\n<p>PLACEMENT_NOT_STABLE<\/p>\n<p>\u8fd9\u7c7b\u95ee\u9898\u5728\u5355\u6b21\u6f14\u793a\u4e2d\u5f88\u5bb9\u6613\u88ab\u9057\u6f0f\u3002\u52a0\u5165\u4e0d\u540c\u968f\u673a\u79cd\u5b50\u7684\u6709\u9650\u504f\u5dee\u6279\u91cf\u6d4b\u8bd5\u540e&#xff0c;\u624d\u80fd\u66b4\u9732\u91ca\u653e\u8f68\u8ff9\u5bf9\u521d\u59cb\u4f4d\u7f6e\u7684\u654f\u611f\u6027\u3002<\/p>\n<p>\u4fee\u590d\u540e&#xff0c;\u540c\u4e00\u6d4b\u8bd5\u8303\u56f4\u8fbe\u5230 5\/5\u3002\u8fd9\u91cc\u4ecd\u7136\u53ea\u80fd\u8bf4\u660e\u5f53\u524d\u56fa\u5b9a\u7403\u4f53\u548c\u6709\u9650\u504f\u5dee\u8303\u56f4\u5185\u901a\u8fc7&#xff0c;\u4e0d\u80fd\u5916\u63a8\u4e3a\u901a\u7528\u6210\u529f\u7387\u3002<\/p>\n<hr \/>\n<h3>\u5341\u4e8c\u3001\u6d4b\u8bd5\u4e0e\u9a8c\u8bc1\u7ed3\u679c<\/h3>\n<h4>1. \u81ea\u52a8\u5316\u6d4b\u8bd5<\/h4>\n<p>\u6267\u884c&#xff1a;<\/p>\n<p><span class=\"token function\">bash<\/span> scripts\/test.sh<\/p>\n<p>\u5f53\u524d\u5171\u6709 14 \u9879\u6d4b\u8bd5\u901a\u8fc7&#xff0c;\u8986\u76d6&#xff1a;<\/p>\n<ul>\n<li>\u6bcf\u4e2a\u5173\u8282\u76ee\u6807\u7684\u901f\u5ea6\u9650\u5236&#xff1b;<\/li>\n<li>\u6293\u53d6\u5fc5\u987b\u5305\u542b\u62c7\u6307\u548c\u81f3\u5c11\u4e24\u6839\u5176\u4ed6\u624b\u6307&#xff1b;<\/li>\n<li>\u63a5\u89e6\u4e0d\u8db3\u65f6\u5fc5\u987b\u5931\u8d25&#xff1b;<\/li>\n<li>\u7269\u4f53\u6389\u843d\u68c0\u6d4b&#xff1b;<\/li>\n<li>\u8f6c\u79fb\u8fc7\u7a0b\u63a5\u89e6\u4e22\u5931\u68c0\u6d4b&#xff1b;<\/li>\n<li>\u62ac\u5347\u4e0d\u8db3\u68c0\u6d4b&#xff1b;<\/li>\n<li>\u653e\u7f6e\u9700\u8981\u6258\u76d8\u652f\u6491\u3001\u624b\u6307\u64a4\u79bb\u548c\u4f4e\u901f\u5ea6&#xff1b;<\/li>\n<li>\u8fde\u7eed\u7a33\u5b9a\u8ba1\u65f6\u5668\u7684\u91cd\u7f6e\u903b\u8f91&#xff1b;<\/li>\n<li>\u72b6\u6001\u673a\u4e0d\u5e94\u4fee\u6539\u89c2\u6d4b\u6570\u636e&#xff1b;<\/li>\n<li>\u6a21\u578b\u5177\u6709\u81ea\u7531\u7269\u4f53\u4e14\u4e0d\u5b58\u5728\u9644\u7740\u7ea6\u675f&#xff1b;<\/li>\n<li>\u521d\u59cb\u6270\u52a8\u53ef\u590d\u73b0&#xff1b;<\/li>\n<li>\u5b8c\u6574\u63a5\u89e6\u6293\u53d6\u7269\u7406\u4efb\u52a1\u3002<\/li>\n<\/ul>\n<h4>2. \u540d\u4e49\u4efb\u52a1\u7ed3\u679c<\/h4>\n<p>\u5f52\u6863\u7684\u540d\u4e49\u4efb\u52a1\u62a5\u544a\u663e\u793a&#xff1a;<\/p>\n<table>\n<tr>\u6307\u6807\u7ed3\u679c<\/tr>\n<tbody>\n<tr>\n<td>\u6700\u7ec8\u72b6\u6001<\/td>\n<td>COMPLETED<\/td>\n<\/tr>\n<tr>\n<td>\u5b8c\u6210\u539f\u56e0<\/td>\n<td>LIFT_HOLD_TRANSFER_RELEASE_VERIFIED<\/td>\n<\/tr>\n<tr>\n<td>\u4eff\u771f\u65f6\u95f4<\/td>\n<td>\u7ea6 19.64 s<\/td>\n<\/tr>\n<tr>\n<td>\u6700\u5927\u62ac\u5347<\/td>\n<td>\u7ea6 12.37 cm<\/td>\n<\/tr>\n<tr>\n<td>\u6700\u7ec8\u6258\u76d8\u63a5\u89e6<\/td>\n<td>\u662f<\/td>\n<\/tr>\n<tr>\n<td>\u6700\u7ec8\u624b\u6307\u63a5\u89e6\u529b<\/td>\n<td>\u56db\u6839\u624b\u6307\u5747\u4e3a 0<\/td>\n<\/tr>\n<tr>\n<td>\u6700\u7ec8\u7403\u4f53\u901f\u5ea6<\/td>\n<td>\u7ea6 1.62 \u00d7 10\u207b\u2077 m\/s<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u5404\u9636\u6bb5\u8fdb\u5165\u65f6\u95f4\u5982\u4e0b&#xff1a;<\/p>\n<table>\n<tr>\u9636\u6bb5\u4eff\u771f\u65f6\u95f4<\/tr>\n<tbody>\n<tr>\n<td>SETTLE<\/td>\n<td align=\"right\">0.00 s<\/td>\n<\/tr>\n<tr>\n<td>CLOSE<\/td>\n<td align=\"right\">1.00 s<\/td>\n<\/tr>\n<tr>\n<td>VERIFY_GRASP<\/td>\n<td align=\"right\">4.02 s<\/td>\n<\/tr>\n<tr>\n<td>LIFT<\/td>\n<td align=\"right\">4.56 s<\/td>\n<\/tr>\n<tr>\n<td>HOLD<\/td>\n<td align=\"right\">7.58 s<\/td>\n<\/tr>\n<tr>\n<td>TRANSFER<\/td>\n<td align=\"right\">9.58 s<\/td>\n<\/tr>\n<tr>\n<td>LOWER<\/td>\n<td align=\"right\">13.08 s<\/td>\n<\/tr>\n<tr>\n<td>RELEASE<\/td>\n<td align=\"right\">16.08 s<\/td>\n<\/tr>\n<tr>\n<td>VERIFY_PLACE<\/td>\n<td align=\"right\">18.60 s<\/td>\n<\/tr>\n<tr>\n<td>COMPLETED<\/td>\n<td align=\"right\">19.64 s<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>3. \u4e94\u6b21\u6709\u9650\u521d\u59cb\u504f\u5dee\u8bd5\u9a8c<\/h4>\n<p>\u6267\u884c&#xff1a;<\/p>\n<p>.venv\/bin\/python scripts\/batch.py <span class=\"token parameter variable\">&#8211;count<\/span> <span class=\"token number\">5<\/span> <span class=\"token parameter variable\">&#8211;offset<\/span> <span class=\"token number\">0.002<\/span><\/p>\n<p>\u6d4b\u8bd5\u4f7f\u7528 5 \u4e2a\u72ec\u7acb\u968f\u673a\u79cd\u5b50&#xff0c;\u7403\u4f53\u521d\u59cb X\/Y \u4f4d\u7f6e\u5404\u81ea\u5728 \u00b12 mm \u8303\u56f4\u5185\u53d8\u5316\u3002<\/p>\n<p>\u6700\u7ec8\u7ed3\u679c\u4e3a&#xff1a;<\/p>\n<p>5 \/ 5 COMPLETED<\/p>\n<p>\u4f46\u8fd9\u4e2a\u6570\u5b57\u53ea\u8986\u76d6&#xff1a;<\/p>\n<ul>\n<li>\u540c\u4e00\u79cd\u7403\u4f53&#xff1b;<\/li>\n<li>50 g \u56fa\u5b9a\u8d28\u91cf&#xff1b;<\/li>\n<li>\u56fa\u5b9a\u59ff\u6001&#xff1b;<\/li>\n<li>\u540d\u4e49\u6469\u64e6\u53c2\u6570&#xff1b;<\/li>\n<li>X\/Y \u5404 \u00b12 mm \u7684\u6709\u9650\u521d\u59cb\u504f\u5dee\u3002<\/li>\n<\/ul>\n<p>\u5b83\u4e0d\u4ee3\u8868\u4e0d\u540c\u5f62\u72b6\u3001\u8d28\u91cf\u3001\u6750\u8d28\u6216\u5927\u8303\u56f4\u4f4d\u7f6e\u8bef\u5dee\u4e0b\u7684\u6293\u53d6\u6210\u529f\u7387\u3002<\/p>\n<h4>4. \u56fe\u5f62\u754c\u9762\u9a8c\u8bc1<\/h4>\n<p>\u9879\u76ee\u8fd8\u8fd0\u884c\u4e86\u771f\u5b9e Tk \u63a7\u4ef6\u4e0e MuJoCo Viewer \u7684\u7a0b\u5e8f\u5316\u56fe\u5f62\u6d4b\u8bd5&#xff0c;\u9a8c\u8bc1\u7ed3\u679c\u5305\u62ec&#xff1a;<\/p>\n<p>widgets &#061; true<br \/>\ndemo_button &#061; true<br \/>\ncompleted &#061; true<\/p>\n<p>\u8fd9\u53ef\u4ee5\u8bc1\u660e\u7a97\u53e3\u3001\u6309\u94ae\u548c\u4eff\u771f\u6d41\u7a0b\u80fd\u591f\u534f\u540c\u8fd0\u884c&#xff0c;\u4f46\u4e0d\u7b49\u4e8e\u5df2\u7ecf\u7531\u72ec\u7acb\u7528\u6237\u5728\u5168\u65b0\u673a\u5668\u4e0a\u5b8c\u6210\u9f20\u6807\u64cd\u4f5c\u9a8c\u6536\u3002<\/p>\n<hr \/>\n<h3>\u5341\u4e09\u3001JSON \u62a5\u544a\u548c CSV \u8f68\u8ff9<\/h3>\n<p>\u6bcf\u6b21\u8fd0\u884c\u90fd\u4f1a\u5728\u4e0b\u9762\u7684\u76ee\u5f55\u751f\u6210\u5355\u72ec\u8bb0\u5f55&#xff1a;<\/p>\n<p>reports\/&lt;UTC\u65f6\u95f4\u7f16\u53f7&gt;\/<br \/>\n\u251c\u2500\u2500 report.json<br \/>\n\u2514\u2500\u2500 trajectory.csv<\/p>\n<p>\u5982\u679c\u542f\u7528\u4e86 &#8211;snapshot&#xff0c;\u8fd8\u4f1a\u6839\u636e\u4efb\u52a1\u9636\u6bb5\u4fdd\u5b58\u56fe\u7247\u3002<\/p>\n<p>report.json \u5305\u542b&#xff1a;<\/p>\n<ul>\n<li>\u4f1a\u8bdd\u6700\u7ec8\u72b6\u6001\u548c\u5931\u8d25\u539f\u56e0&#xff1b;<\/li>\n<li>\u8fd0\u884c\u6a21\u5f0f\u3001\u968f\u673a\u79cd\u5b50\u548c\u521d\u59cb\u504f\u5dee&#xff1b;<\/li>\n<li>\u7403\u4f53\u8d28\u91cf&#xff1b;<\/li>\n<li>MuJoCo \u7248\u672c&#xff1b;<\/li>\n<li>\u4e0a\u6e38\u8d44\u6e90\u63d0\u4ea4\u7248\u672c&#xff1b;<\/li>\n<li>\u8d44\u6e90 SHA-256&#xff1b;<\/li>\n<li>\u72b6\u6001\u673a\u4e8b\u4ef6\u65f6\u95f4\u7ebf&#xff1b;<\/li>\n<li>\u6700\u5927\u62ac\u5347\u9ad8\u5ea6&#xff1b;<\/li>\n<li>\u6700\u7ec8\u7269\u4f53\u4f4d\u7f6e\u3001\u901f\u5ea6\u548c\u63a5\u89e6\u72b6\u6001&#xff1b;<\/li>\n<li>\u5f53\u524d\u6e90\u4ee3\u7801 SHA-256&#xff1b;<\/li>\n<li>\u9879\u76ee\u80fd\u529b\u9650\u5236\u3002<\/li>\n<\/ul>\n<p>trajectory.csv \u6301\u7eed\u8bb0\u5f55&#xff1a;<\/p>\n<p>time, phase, x, y, z, speed,<br \/>\nsource_contact, tray_contact,<br \/>\nff, mf, rf, th<\/p>\n<p>\u8fd9\u4e9b\u6570\u636e\u8ba9\u4e00\u6b21\u6f14\u793a\u4ece\u201c\u6211\u770b\u5230\u5b83\u597d\u50cf\u6210\u529f\u4e86\u201d&#xff0c;\u53d8\u6210\u53ef\u8ffd\u8e2a\u3001\u53ef\u590d\u67e5\u7684\u5de5\u7a0b\u8bb0\u5f55\u3002<\/p>\n<p>\u4ed3\u5e93\u4e2d\u540c\u65f6\u4fdd\u7559&#xff1a;<\/p>\n<ul>\n<li>\u5f53\u524d\u540d\u4e49\u4efb\u52a1\u6210\u529f\u62a5\u544a&#xff1b;<\/li>\n<li>\u5f53\u524d 5\/5 \u6709\u9650\u504f\u5dee\u62a5\u544a&#xff1b;<\/li>\n<li>\u56fe\u5f62\u6d4b\u8bd5\u8bb0\u5f55&#xff1b;<\/li>\n<li>\u4fee\u6539\u91ca\u653e\u8f68\u8ff9\u524d\u7684 3\/5 \u62a5\u544a&#xff1b;<\/li>\n<li>\u53ea\u8c03\u6574\u6258\u76d8\u6469\u64e6\u65f6\u7684 0\/5 \u62a5\u544a\u3002<\/li>\n<\/ul>\n<p>\u4fdd\u7559\u5931\u8d25\u8bc1\u636e\u975e\u5e38\u91cd\u8981\u3002\u5426\u5219\u8bfb\u8005\u53ea\u80fd\u770b\u5230\u6700\u7ec8\u53c2\u6570&#xff0c;\u5374\u4e0d\u77e5\u9053\u4e3a\u4ec0\u4e48\u9700\u8981\u64a4\u624b\u8f68\u8ff9\u3001\u8fde\u7eed\u5224\u5b9a\u548c\u6279\u91cf\u6d4b\u8bd5\u3002<\/p>\n<hr \/>\n<h3>\u5341\u56db\u3001\u5e38\u89c1\u95ee\u9898<\/h3>\n<h4>1. \u63d0\u793a\u8d44\u6e90\u7f3a\u5931\u6216\u6821\u9a8c\u5931\u8d25<\/h4>\n<p>\u91cd\u65b0\u6267\u884c&#xff1a;<\/p>\n<p><span class=\"token function\">bash<\/span> scripts\/setup.sh<br \/>\n<span class=\"token function\">bash<\/span> scripts\/doctor.sh<\/p>\n<p>\u9879\u76ee\u4f1a\u68c0\u67e5 assets\/manifest.json \u4e2d\u7684\u6587\u4ef6\u54c8\u5e0c\u3002\u4e0d\u8981\u76f4\u63a5\u7ed5\u8fc7\u8d44\u6e90\u6821\u9a8c&#xff0c;\u5426\u5219\u6a21\u578b\u548c\u4ee3\u7801\u7248\u672c\u53ef\u80fd\u4e0d\u5339\u914d\u3002<\/p>\n<h4>2. MuJoCo \u7a97\u53e3\u65e0\u6cd5\u663e\u793a<\/h4>\n<p>\u786e\u8ba4 WSLg\/OpenGL \u73af\u5883\u53ef\u7528\u3002\u4e5f\u53ef\u4ee5\u5c1d\u8bd5\u8f6f\u4ef6\u6e32\u67d3&#xff1a;<\/p>\n<p><span class=\"token assign-left variable\">H005_RENDERER<\/span><span class=\"token operator\">&#061;<\/span>software <span class=\"token function\">bash<\/span> run_demo.sh<\/p>\n<p>\u5982\u679c\u53ea\u60f3\u9a8c\u8bc1\u7269\u7406\u4efb\u52a1&#xff0c;\u53ef\u4ee5\u8fd0\u884c&#xff1a;<\/p>\n<p><span class=\"token function\">bash<\/span> run_demo.sh <span class=\"token parameter variable\">&#8211;mode<\/span> demo <span class=\"token parameter variable\">&#8211;headless<\/span><\/p>\n<h4>3. \u70b9\u51fb Run grasp demo \u88ab\u62d2\u7edd<\/h4>\n<p>\u81ea\u52a8\u4efb\u52a1\u53ea\u63a5\u53d7\u4f4d\u4e8e\u6e90\u652f\u5ea7\u3001\u901f\u5ea6\u8db3\u591f\u4f4e\u4e14\u63a5\u89e6\u72b6\u6001\u6b63\u786e\u7684\u521d\u59cb\u7403\u4f53\u3002<\/p>\n<p>\u5982\u679c\u624b\u52a8\u64cd\u4f5c\u5df2\u7ecf\u8ba9\u7403\u4f53\u79bb\u5f00\u6e90\u4f4d\u7f6e&#xff0c;\u7a0b\u5e8f\u4e0d\u4f1a\u5077\u5077\u628a\u7403\u653e\u56de\u53bb\u3002\u5173\u95ed\u5e76\u91cd\u65b0\u542f\u52a8\u4eff\u771f\u5373\u53ef\u5f00\u59cb\u65b0\u4e00\u8f6e\u3002<\/p>\n<h4>4. \u624b\u52a8\u64cd\u4f5c\u540e\u4efb\u52a1\u663e\u793a CANCELLED<\/h4>\n<p>\u8fd9\u662f\u9884\u671f\u884c\u4e3a\u3002\u81ea\u52a8\u4efb\u52a1\u671f\u95f4\u8c03\u6574\u6ed1\u5757\u6216\u59ff\u6001\u6309\u94ae\u5c5e\u4e8e\u4eba\u5de5\u63a5\u7ba1&#xff0c;\u7a0b\u5e8f\u4e0d\u4f1a\u628a\u5e72\u9884\u540e\u7684\u7ed3\u679c\u7ee7\u7eed\u7b97\u4f5c\u81ea\u52a8\u6210\u529f\u3002<\/p>\n<h4>5. \u4f7f\u7528 Pinch pose \u540e\u4e3a\u4ec0\u4e48\u6ca1\u6709\u5b8c\u6210\u6293\u53d6&#xff1f;<\/h4>\n<p>Pinch pose \u53ea\u662f\u4e24\u6307\u52a8\u4f5c\u9884\u8bbe\u3002\u76ee\u524d\u901a\u8fc7\u5b8c\u6574\u9a8c\u6536\u7684\u662f\u591a\u6307\u5305\u7edc\u6293\u53d6&#xff0c;\u4e24\u6307\u634f\u53d6\u4ecd\u5c5e\u4e8e\u4e0b\u4e00\u9636\u6bb5\u5de5\u4f5c\u3002<\/p>\n<h4>6. \u7403\u5df2\u7ecf\u843d\u5728\u6258\u76d8\u9644\u8fd1&#xff0c;\u4e3a\u4ec0\u4e48\u4ecd\u7136\u5931\u8d25&#xff1f;<\/h4>\n<p>\u653e\u7f6e\u6210\u529f\u4e0d\u662f\u53ea\u770b\u4f4d\u7f6e\u3002\u7a0b\u5e8f\u8fd8\u8981\u6c42&#xff1a;<\/p>\n<ul>\n<li>\u6258\u76d8\u63a5\u89e6\u6210\u7acb&#xff1b;<\/li>\n<li>\u624b\u6307\u5df2\u7ecf\u64a4\u79bb&#xff1b;<\/li>\n<li>\u7403\u4f53\u901f\u5ea6\u8db3\u591f\u4f4e&#xff1b;<\/li>\n<li>\u6240\u6709\u6761\u4ef6\u8fde\u7eed\u4fdd\u6301 1 \u79d2\u3002<\/li>\n<\/ul>\n<p>\u7f3a\u5c11\u4efb\u4f55\u4e00\u9879&#xff0c;\u90fd\u53ef\u80fd\u8fd4\u56de PLACEMENT_NOT_STABLE\u3002<\/p>\n<hr \/>\n<h3>\u5341\u4e94\u3001\u5f53\u524d\u80fd\u529b\u8fb9\u754c<\/h3>\n<p>\u5de5\u7a0b\u5b9e\u4f8b\u6700\u91cd\u8981\u7684\u4e0d\u53ea\u662f\u5c55\u793a\u5b8c\u6210\u4e86\u4ec0\u4e48&#xff0c;\u4e5f\u8981\u660e\u786e\u6ca1\u6709\u5b8c\u6210\u4ec0\u4e48\u3002<\/p>\n<p>\u5f53\u524d\u9879\u76ee\u7684\u8fb9\u754c\u5982\u4e0b&#xff1a;<\/p>\n<li>\u4f7f\u7528 Allegro Hand V3 \u56db\u6307\u6a21\u578b&#xff0c;\u4e0d\u662f\u4e94\u6307\u4eba\u624b&#xff1b;<\/li>\n<li>\u624b\u8155\u5b89\u88c5\u5728\u4e24\u8f74\u4eff\u771f\u5939\u5177\u4e0a&#xff0c;\u4e0d\u662f\u5b8c\u6574\u673a\u68b0\u81c2&#xff1b;<\/li>\n<li>\u7269\u4f53\u4f4d\u7f6e\u5df2\u77e5&#xff0c;\u6ca1\u6709\u89c6\u89c9\u8bc6\u522b\u6216\u4f4d\u59ff\u4f30\u8ba1&#xff1b;<\/li>\n<li>\u63a5\u89e6\u529b\u6765\u81ea MuJoCo&#xff0c;\u4e0d\u662f\u771f\u5b9e\u89e6\u89c9\u4f20\u611f\u5668&#xff1b;<\/li>\n<li>\u4f7f\u7528\u9884\u5148\u6807\u5b9a\u7684\u5173\u8282\u76ee\u6807&#xff0c;\u4e0d\u662f\u5b66\u4e60\u578b\u901a\u7528\u6293\u53d6\u7b56\u7565&#xff1b;<\/li>\n<li>\u5f53\u524d\u5b8c\u6574\u4efb\u52a1\u91c7\u7528\u591a\u6307\u5305\u7edc\u6293\u53d6&#xff0c;\u4e24\u6307\u634f\u53d6\u5c1a\u672a\u9a8c\u6536&#xff1b;<\/li>\n<li>\u53ea\u9a8c\u8bc1\u534a\u5f84 35 mm\u3001\u8d28\u91cf 50 g \u7684\u56fa\u5b9a\u7403\u4f53\u53ca\u6709\u9650\u521d\u59cb\u504f\u5dee&#xff1b;<\/li>\n<li>\u6ca1\u6709\u9a8c\u8bc1\u4e0d\u540c\u5f62\u72b6\u3001\u6750\u8d28\u3001\u8d28\u91cf\u548c\u6469\u64e6\u53c2\u6570\u7684\u6cdb\u5316\u80fd\u529b&#xff1b;<\/li>\n<li>\u6ca1\u6709\u5b9e\u73b0\u624b\u5185\u65cb\u8f6c\u3001\u53cc\u624b\u534f\u4f5c\u6216\u5b8c\u6574\u4eba\u5f62\u64cd\u4f5c&#xff1b;<\/li>\n<li>\u4eff\u771f\u53c2\u6570\u4e0d\u80fd\u76f4\u63a5\u7528\u4e8e\u771f\u5b9e Allegro Hand&#xff1b;<\/li>\n<li>Pause\u3001Cancel \u548c\u4f4d\u7f6e\u4fdd\u6301\u4e0d\u662f\u5de5\u4e1a\u5b89\u5168\u529f\u80fd&#xff1b;<\/li>\n<li>\u5168\u65b0\u673a\u5668\u7684\u8de8\u73af\u5883\u590d\u73b0\u4ecd\u5f85\u72ec\u7acb\u9a8c\u6536\u3002<\/li>\n<p>\u6240\u4ee5&#xff0c;\u51c6\u786e\u7684\u63cf\u8ff0\u662f&#xff1a;<\/p>\n<p>\u672c\u9879\u76ee\u5728\u56fa\u5b9a\u4eff\u771f\u573a\u666f\u4e2d&#xff0c;\u5b8c\u6210\u4e86 Allegro Hand \u5bf9\u5df2\u77e5\u7403\u4f53\u7684\u591a\u6307\u63a5\u89e6\u6293\u53d6\u3001\u7a33\u5b9a\u62ac\u5347\u3001\u6a2a\u5411\u8f6c\u79fb\u3001\u53d7\u63a7\u91ca\u653e\u548c\u7ed3\u679c\u9a8c\u6536\u3002<\/p>\n<p>\u800c\u4e0d\u662f&#xff1a;<\/p>\n<p>\u5df2\u7ecf\u5b9e\u73b0\u80fd\u591f\u6293\u53d6\u4efb\u610f\u7269\u4f53\u7684\u901a\u7528\u7075\u5de7\u624b\u7cfb\u7edf\u3002<\/p>\n<hr \/>\n<h3>\u5341\u516d\u3001\u4e0b\u4e00\u6b65\u53ef\u4ee5\u600e\u4e48\u6269\u5c55&#xff1f;<\/h3>\n<p>\u5728\u5f53\u524d\u95ed\u73af\u57fa\u7840\u4e0a&#xff0c;\u540e\u7eed\u53ef\u4ee5\u6cbf\u56db\u4e2a\u65b9\u5411\u7ee7\u7eed\u63a8\u8fdb\u3002<\/p>\n<h4>1. \u4e24\u6307\u634f\u53d6\u9a8c\u6536<\/h4>\n<p>\u4e3a\u5c0f\u5c3a\u5bf8\u7269\u4f53\u5355\u72ec\u5efa\u7acb\u634f\u53d6\u4efb\u52a1&#xff0c;\u91cd\u65b0\u5b9a\u4e49&#xff1a;<\/p>\n<ul>\n<li>\u62c7\u6307\u2014\u98df\u6307\u5bf9\u5411\u63a5\u89e6&#xff1b;<\/li>\n<li>\u6700\u5c0f\u62ac\u5347\u9ad8\u5ea6&#xff1b;<\/li>\n<li>\u634f\u53d6\u6ed1\u79fb\u5224\u5b9a&#xff1b;<\/li>\n<li>\u5c0f\u7269\u4f53\u7a33\u5b9a\u653e\u7f6e\u6807\u51c6\u3002<\/li>\n<\/ul>\n<h4>2. \u591a\u7269\u4f53\u6d4b\u8bd5\u77e9\u9635<\/h4>\n<p>\u9010\u6b65\u52a0\u5165&#xff1a;<\/p>\n<ul>\n<li>\u4e0d\u540c\u76f4\u5f84\u7403\u4f53&#xff1b;<\/li>\n<li>\u5706\u67f1\u4f53&#xff1b;<\/li>\n<li>\u65b9\u5757&#xff1b;<\/li>\n<li>\u4e0d\u540c\u8d28\u91cf&#xff1b;<\/li>\n<li>\u4e0d\u540c\u6469\u64e6\u53c2\u6570&#xff1b;<\/li>\n<li>\u66f4\u5927\u8303\u56f4\u7684\u521d\u59cb\u4f4d\u7f6e\u548c\u59ff\u6001\u504f\u5dee\u3002<\/li>\n<\/ul>\n<p>\u8fd9\u65f6\u5e94\u62a5\u544a\u6bcf\u4e2a\u6d4b\u8bd5\u8303\u56f4&#xff0c;\u800c\u4e0d\u662f\u53ea\u7ed9\u51fa\u4e00\u4e2a\u7b3c\u7edf\u7684\u6210\u529f\u7387\u3002<\/p>\n<h4>3. 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\u4e0e\u673a\u68b0\u81c2\u6216\u4eba\u5f62\u8eaf\u5e72\u96c6\u6210<\/h4>\n<p>\u5f53\u7075\u5de7\u624b\u81ea\u8eab\u7684\u63a5\u89e6\u6293\u53d6\u8db3\u591f\u7a33\u5b9a\u540e&#xff0c;\u518d\u628a\u76ee\u6807\u4f4d\u59ff\u3001\u673a\u68b0\u81c2\u89c4\u5212\u548c\u6293\u53d6\u72b6\u6001\u673a\u8fde\u63a5\u8d77\u6765\u3002\u8fd9\u6837\u53ef\u4ee5\u6e05\u695a\u5730\u533a\u5206&#xff1a;<\/p>\n<ul>\n<li>\u624b\u81c2\u8d1f\u8d23\u628a\u624b\u9001\u5230\u54ea\u91cc&#xff1b;<\/li>\n<li>\u7075\u5de7\u624b\u8d1f\u8d23\u5982\u4f55\u5efa\u7acb\u548c\u4fdd\u6301\u63a5\u89e6&#xff1b;<\/li>\n<li>\u4efb\u52a1\u5c42\u8d1f\u8d23\u4f55\u65f6\u6293\u53d6\u3001\u4f55\u65f6\u642c\u8fd0\u3001\u4f55\u65f6\u91ca\u653e\u3002<\/li>\n<\/ul>\n<p>\u8fd9\u6bd4\u4e00\u5f00\u59cb\u5c31\u628a\u6240\u6709\u6a21\u5757\u5806\u5728\u4e00\u8d77\u66f4\u5bb9\u6613\u8c03\u8bd5\u548c\u9a8c\u6536\u3002<\/p>\n<hr \/>\n<h3>\u5341\u4e03\u3001\u603b\u7ed3<\/h3>\n<p>\u5de5\u7a0b\u4e94\u771f\u6b63\u5b8c\u6210\u7684&#xff0c;\u4e0d\u53ea\u662f\u8ba9 Allegro Hand \u505a\u51fa\u4e00\u4e2a\u63e1\u62f3\u52a8\u4f5c&#xff0c;\u800c\u662f\u5efa\u7acb\u4e86\u4e00\u6761\u53ef\u4ee5\u68c0\u67e5\u7ed3\u679c\u7684\u7269\u7406\u6293\u53d6\u94fe\u8def&#xff1a;<\/p>\n<p>\u5173\u8282\u76ee\u6807<br \/>\n    \u2193<br \/>\n\u5e73\u6ed1\u6267\u884c<br \/>\n    \u2193<br \/>\n\u591a\u6307\u63a5\u89e6<br \/>\n    \u2193<br \/>\n\u62ac\u5347\u8131\u79bb<br \/>\n    \u2193<br \/>\n\u7a33\u5b9a\u4fdd\u6301<br \/>\n    \u2193<br \/>\n\u6a2a\u5411\u642c\u8fd0<br \/>\n    \u2193<br \/>\n\u5f20\u5f00\u64a4\u624b<br \/>\n    \u2193<br \/>\n\u6258\u76d8\u652f\u6491\u4e0e\u9759\u6b62\u9a8c\u6536<\/p>\n<p>\u5176\u4e2d\u6700\u5173\u952e\u7684\u5de5\u7a0b\u7ecf\u9a8c\u6709\u4e09\u70b9&#xff1a;<\/p>\n<li>\u5173\u8282\u5230\u4f4d\u4e0d\u4ee3\u8868\u6293\u53d6\u6210\u7acb&#xff0c;\u5fc5\u987b\u8bfb\u53d6\u63a5\u89e6\u548c\u7269\u4f53\u72b6\u6001&#xff1b;<\/li>\n<li>\u63d0\u9ad8\u6469\u64e6\u4e0d\u80fd\u4ee3\u66ff\u6b63\u786e\u7684\u91ca\u653e\u4e0e\u64a4\u624b\u8f68\u8ff9&#xff1b;<\/li>\n<li>\u4e00\u6b21\u6210\u529f\u4e0d\u4ee3\u8868\u6d41\u7a0b\u7a33\u5b9a&#xff0c;\u5931\u8d25\u8bb0\u5f55\u548c\u6709\u9650\u6270\u52a8\u6d4b\u8bd5\u540c\u6837\u91cd\u8981\u3002<\/li>\n<p>\u4ece\u4eba\u5f62\u673a\u5668\u4eba\u884c\u8d70\u5230\u7075\u5de7\u624b\u6293\u53d6&#xff0c;\u95ee\u9898\u770b\u8d77\u6765\u4ece\u201c\u811a\u201d\u8f6c\u79fb\u5230\u4e86\u201c\u624b\u201d&#xff0c;\u4f46\u6838\u5fc3\u65b9\u6cd5\u6ca1\u6709\u6539\u53d8&#xff1a;\u4e0d\u8981\u53ea\u9a8c\u8bc1\u547d\u4ee4\u662f\u5426\u53d1\u51fa&#xff0c;\u800c\u8981\u9a8c\u8bc1\u7269\u7406\u4e16\u754c\u4e2d\u7684\u76ee\u6807\u662f\u5426\u771f\u6b63\u8fbe\u6210\u3002<\/p>\n<p>\u5b8c\u6574\u4ee3\u7801&#xff1a;<\/p>\n<p>https:\/\/github.com\/zephastra\/robotics\/tree\/main\/projects\/05-dexterous-hand<\/p>\n<hr \/>\n","protected":false},"excerpt":{"rendered":"<p>\u7cfb\u5217&#xff1a; 2026 \u673a\u5668\u4eba\u5de5\u7a0b\u5b9e\u4f8b \u73af\u5883&#xff1a; Windows 11\u3001WSL2 \/ WSLg\u3001Ubuntu 26.04\u3001Python 3.12\u3001MuJoCo 3.3.6 \u673a\u5668\u4eba\u6a21\u578b&#xff1a; Allegro Hand V3 \u53f3\u624b \u9879\u76ee\u540d\u79f0&#xff1a; 05-dexterous-hand \u5b8c\u6574\u4ee3\u7801&#xff1a; zephastra\/robotics&#xff1a;05-dexterous-hand \u5173\u952e\u8bcd&#xff1a; \u7075\u5de7\u624b\u3001Allegro<\/p>\n","protected":false},"author":2,"featured_media":104649,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[6499,55,81,384],"topic":[],"class_list":["post-104652","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-6499","tag-c","tag-python","tag-384"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - 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