{ // 获取包含Hugging Face文本的span元素 const spans = link.querySelectorAll('span.whitespace-nowrap, span.hidden.whitespace-nowrap'); spans.forEach(span => { if (span.textContent && span.textContent.trim().match(/Hugging\s*Face/i)) { span.textContent = 'AI快站'; } }); }); // 替换logo图片的alt属性 document.querySelectorAll('img[alt*="Hugging"], img[alt*="Face"]').forEach(img => { if (img.alt.match(/Hugging\s*Face/i)) { img.alt = 'AI快站 logo'; } }); } // 替换导航栏中的链接 function replaceNavigationLinks() { // 已替换标记,防止重复运行 if (window._navLinksReplaced) { return; } // 已经替换过的链接集合,防止重复替换 const replacedLinks = new Set(); // 只在导航栏区域查找和替换链接 const headerArea = document.querySelector('header') || document.querySelector('nav'); if (!headerArea) { return; } // 在导航区域内查找链接 const navLinks = headerArea.querySelectorAll('a'); navLinks.forEach(link => { // 如果已经替换过,跳过 if (replacedLinks.has(link)) return; const linkText = link.textContent.trim(); const linkHref = link.getAttribute('href') || ''; // 替换Spaces链接 - 仅替换一次 if ( (linkHref.includes('/spaces') || linkHref === '/spaces' || linkText === 'Spaces' || linkText.match(/^s*Spacess*$/i)) && linkText !== 'OCR模型免费转Markdown' && linkText !== 'OCR模型免费转Markdown' ) { link.textContent = 'OCR模型免费转Markdown'; 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} }); // 替换hljs-string类的span中的域名(移除多余的转义符号) document.querySelectorAll('span.hljs-string, span[class*="hljs-string"]').forEach(span => { if (span.textContent && span.textContent.includes('huggingface.co')) { span.textContent = span.textContent.replace(/huggingface.co/g, 'aifasthub.com'); } }); // 替换pre和code标签中包含git clone命令的域名 document.querySelectorAll('pre, code').forEach(element => { if (element.textContent && element.textContent.includes('git clone')) { const text = element.innerHTML; if (text.includes('huggingface.co')) { element.innerHTML = text.replace(/huggingface.co/g, 'aifasthub.com'); } } }); // 处理特定的命令行示例 document.querySelectorAll('pre, code').forEach(element => { const text = element.innerHTML; if (text.includes('huggingface.co')) { // 针对git clone命令的专门处理 if (text.includes('git clone') || text.includes('GIT_LFS_SKIP_SMUDGE=1')) { element.innerHTML = text.replace(/huggingface.co/g, 'aifasthub.com'); } } }); // 特别处理模型下载页面上的代码片段 document.querySelectorAll('.flex.border-t, .svelte_hydrator, .inline-block').forEach(container => { const content = container.innerHTML; 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URDF Description package for piper_description

\n

This package contains configuration data, 3D models and launch files\nfor piper_description robot

\n
\n TODO\n \n BSD\n catkin\n roslaunch\n robot_state_publisher\n rviz\n joint_state_publisher_gui\n gazebo\n \n \n \n
\n"}}}],"truncated":false},"paginationData":{"pageIndex":0,"numItemsPerPage":100,"numTotalItems":3,"offset":0,"length":100}},"jwt":"eyJhbGciOiJFZERTQSJ9.eyJyZWFkIjp0cnVlLCJwZXJtaXNzaW9ucyI6eyJyZXBvLmNvbnRlbnQucmVhZCI6dHJ1ZX0sImlhdCI6MTc1Nzc4ODYzNiwic3ViIjoiL2RhdGFzZXRzL0ludGVyblJvYm90aWNzL0ludGVybk1hbmlwLWFzc2V0cyIsImV4cCI6MTc1Nzc5MjIzNiwiaXNzIjoiaHR0cHM6Ly9odWdnaW5nZmFjZS5jbyJ9.1c-NjLk737z-Ak5UbsnxTcKqww4OmfAwKMt-QDG_lg7bRLM1hjSzhqcsVYrP7-1-n4-peRj80nsQK4_8uAgNBA","displayUrls":true},"dataset":"InternRobotics/InternManip-assets","isGated":false,"isPrivate":false,"hasParquetFormat":false,"author":{"_id":"6881c146ff13df8b65153273","avatarUrl":"https://aifasthub.com/avatars/v1/production/uploads/65d9f09bbcd15bc5cb255fed/REfA3nEK1_Y-PTfGn_5H1.jpeg","fullname":"Intern Robotics","name":"InternRobotics","type":"org","isHf":false,"isHfAdmin":false,"isMod":false,"isEnterprise":false,"followerCount":67},"compact":true}">
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<mujoco model="piper"> <compiler angle="radian" /> <size njmax="500" nconmax="100" /> <asset> <mesh name="base_link" file="../meshes/base_link.STL" /> <mesh name="link1" file="../meshes/link1.STL" /> <mesh name="link2" file="../meshes/link2.STL" /> <mesh name="link3" file="../meshes/link3.STL" /> <mesh name="link4" file="../meshes/link4.STL" /> <mesh name="link5" file="../meshes/link5.STL" /> <mesh name="link6" file="../meshes/link6.STL" /> <mesh name="gripper_base" file="../meshes/gripper_base.STL" /> <mesh name="link7" file="../meshes/link7.STL" /> <mesh name="link8" file="../meshes/link8.STL" /> </asset> <worldbody> <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="base_link" /> <body name="link1" pos="0 0 0.123"> <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.682111 0.730899 0.0143111 -0.0175062" mass="0.71" diaginertia="0.000489262 0.000439887 0.000404551" /> <joint name="joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="500"/> <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link1" /> <body name="link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205"> <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.510131 0.475585 0.525075 0.48773" mass="1.17" diaginertia="0.0679032 0.067745 0.00111966" /> <joint name="joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="5"/> <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link2" /> <body name="link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042"> <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.706282 0.705111 0.0532202 0.0339395" mass="0.5" diaginertia="0.0138227 0.0138032 0.000244685" /> <joint name="joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="20"/> <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link3" /> <body name="link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0"> <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.714689 -0.0948484 0.0635223 0.690064" mass="0.38" diaginertia="0.000191586 0.000185052 0.000152863" /> <joint name="joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="5"/> <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link4" /> <body name="link5" pos="0 0 0" quat="0.707105 -0.707108 0 0"> <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.709589 0.704614 0.00134613 -0.00132656" mass="0.383" diaginertia="0.00166169 0.00164328 0.000185028" /> <joint name="joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="5"/> <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link5" /> <body name="link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0"> <inertial pos="-0.000182345 7.94104e-05 0.0316214" quat="0.999977 6.30554e-05 0.00678017 0.000789386" mass="0.456991" diaginertia="0.000938039 0.000723068 0.000395388" /> <joint name="joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="5"/> <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="link6" /> <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="gripper_base" /> <body name="link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0"> <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.477798 0.572974 -0.518028 0.418398" mass="0.025" diaginertia="7.74531e-05 7.36783e-05 5.0886e-06" /> <joint name="joint7" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="0 0.035" damping="100"/> <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link7" /> </body> <body name="link8" pos="0 0 0.1358" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105"> <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.477798 0.572974 -0.518028 0.418398" mass="0.025" diaginertia="7.74531e-05 7.36783e-05 5.0886e-06" /> <joint name="joint8" pos="0 0 0" axis="0 0 -1" type="slide" limited="true" range="-0.035 0" damping="100"/> <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link8" /> </body> </body> </body> </body> </body> </body> </body> </worldbody> <actuator> <position name="joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="joint1" kp="10000" user="1" forcelimited="false"/> <position name="joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="joint2" kp="2000" user="1" forcelimited="false"/> <position name="joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="joint3" kp="2000" user="1" forcelimited="false"/> <position name="joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="joint4" kp="500" user="1" forcelimited="false"/> <position name="joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="joint5" kp="200" user="1" forcelimited="false"/> <position name="joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="joint6" kp="200" user="1" forcelimited="false"/> <position name="joint7" ctrllimited="true" ctrlrange="0 0.0475" joint="joint7" kp="10000" user="1" forcelimited="false" forcerange="-100 100"/> <position name="joint8" ctrllimited="true" ctrlrange="-0.0475 0" joint="joint8" kp="10000" user="1" forcelimited="false" forcerange="-100 100"/> </actuator> </mujoco>
<mujoco model="piper"> <compiler angle="radian" /> <size njmax="500" nconmax="100" /> <asset> <mesh name="base_link" file="../meshes/base_link.STL" /> <mesh name="link1" file="../meshes/link1.STL" /> <mesh name="link2" file="../meshes/link2.STL" /> <mesh name="link3" file="../meshes/link3.STL" /> <mesh name="link4" file="../meshes/link4.STL" /> <mesh name="link5" file="../meshes/link5.STL" /> <mesh name="link6" file="../meshes/link6.STL" /> </asset> <worldbody> <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="base_link" /> <body name="link1" pos="0 0 0.123"> <inertial pos="0.000121505 0.000104632 -0.00438597" quat="0.682111 0.730899 0.0143111 -0.0175062" mass="0.71" diaginertia="0.000489262 0.000439887 0.000404551" /> <joint name="joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.618 2.168" damping="500"/> <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link1" /> <body name="link2" pos="0 0 0" quat="0.0356735 -0.0356786 -0.706207 -0.706205"> <inertial pos="0.198666 -0.0109269 0.00142122" quat="0.510131 0.475585 0.525075 0.48773" mass="1.17" diaginertia="0.0679032 0.067745 0.00111966" /> <joint name="joint2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.14" damping="5"/> <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link2" /> <body name="link3" pos="0.28503 0 0" quat="0.637536 0 0 -0.77042"> <inertial pos="-0.0202738 -0.133915 -0.000458683" quat="0.706282 0.705111 0.0532202 0.0339395" mass="0.5" diaginertia="0.0138227 0.0138032 0.000244685" /> <joint name="joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.967 0" damping="20"/> <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link3" /> <body name="link4" pos="-0.021984 -0.25075 0" quat="0.707105 0.707108 0 0"> <inertial pos="-9.66636e-05 0.000876064 -0.00496881" quat="0.714689 -0.0948484 0.0635223 0.690064" mass="0.38" diaginertia="0.000191586 0.000185052 0.000152863" /> <joint name="joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-1.745 1.745" damping="5"/> <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link4" /> <body name="link5" pos="0 0 0" quat="0.707105 -0.707108 0 0"> <inertial pos="-4.10554e-05 -0.0566487 -0.00372058" quat="0.709589 0.704614 0.00134613 -0.00132656" mass="0.383" diaginertia="0.00166169 0.00164328 0.000185028" /> <joint name="joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-1.22 1.22" damping="5"/> <geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link5" /> <body name="link6" pos="8.8259e-05 -0.091 0" quat="0.707105 0.707108 0 0"> <inertial pos="-0.000182345 7.94104e-05 0.0316214" quat="0.999977 6.30554e-05 0.00678017 0.000789386" mass="0.456991" diaginertia="0.000938039 0.000723068 0.000395388" /> <joint name="joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-2.0944 2.0944" damping="5"/> <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="link6" /> </body> </body> </body> </body> </body> </body> </worldbody> <actuator> <position name="joint1" ctrllimited="true" ctrlrange="-2.618 2.618" joint="joint1" kp="10000" user="1" forcelimited="false"/> <position name="joint2" ctrllimited="true" ctrlrange="0 3.14158" joint="joint2" kp="2000" user="1" forcelimited="false"/> <position name="joint3" ctrllimited="true" ctrlrange="-2.697 0" joint="joint3" kp="2000" user="1" forcelimited="false"/> <position name="joint4" ctrllimited="true" ctrlrange="-1.832 1.832" joint="joint4" kp="500" user="1" forcelimited="false"/> <position name="joint5" ctrllimited="true" ctrlrange="-1.22 1.22" joint="joint5" kp="200" user="1" forcelimited="false"/> <position name="joint6" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="joint6" kp="200" user="1" forcelimited="false"/> </actuator> </mujoco>
<package format="2"> <name>piper_description</name> <version>1.0.0</version> <description> <p>URDF Description package for piper_description</p> <p>This package contains configuration data, 3D models and launch files for piper_description robot</p> </description> <author>TODO</author> <maintainer email="[email protected]" /> <license>BSD</license> <buildtool_depend>catkin</buildtool_depend> <depend>roslaunch</depend> <depend>robot_state_publisher</depend> <depend>rviz</depend> <depend>joint_state_publisher_gui</depend> <depend>gazebo</depend> <export> <architecture_independent /> </export> </package>

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