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sim_task_suite_assets

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Backfill missing files batch 4

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Files changed (50) hide show
  1. ROBOTS/FR3/meshes/fr3_link3_visuals.mtl +15 -0
  2. ROBOTS/FR3/meshes/fr3_link3_visuals.obj +0 -0
  3. ROBOTS/FR3/meshes/fr3_link4_collisions.obj +1200 -0
  4. ROBOTS/FR3/meshes/fr3_link4_visuals.mtl +15 -0
  5. ROBOTS/FR3/meshes/fr3_link4_visuals.obj +0 -0
  6. ROBOTS/FR3/meshes/fr3_link5_collisions.obj +1200 -0
  7. ROBOTS/FR3/meshes/fr3_link5_visuals.mtl +23 -0
  8. ROBOTS/FR3/meshes/fr3_link5_visuals.obj +0 -0
  9. ROBOTS/FR3/meshes/fr3_link6_collisions.obj +800 -0
  10. ROBOTS/FR3/meshes/fr3_link6_visuals.mtl +63 -0
  11. ROBOTS/FR3/meshes/fr3_link6_visuals.obj +0 -0
  12. ROBOTS/FR3/meshes/fr3_link7_collisions.obj +800 -0
  13. ROBOTS/FR3/meshes/fr3_link7_visuals.mtl +31 -0
  14. ROBOTS/FR3/meshes/fr3_link7_visuals.obj +0 -0
  15. ROBOTS/FR3/meshes/fr3_rightfinger_visuals.mtl +15 -0
  16. ROBOTS/FR3/meshes/fr3_rightfinger_visuals.obj +0 -0
  17. ROBOTS/GALAXEA/GALAXEA/urdf/A1_URDF_0607_0028.csv +10 -0
  18. ROBOTS/GALAXEA/GALAXEA/urdf/A1_URDF_0607_0028.urdf +511 -0
  19. ROBOTS/GALAXEA/GALAXEA/urdf/A1_URDF_0607_0028_no_gripper.urdf +393 -0
  20. ROBOTS/GALAXEA/urdf/A1_URDF_0607_0028.csv +10 -0
  21. ROBOTS/GALAXEA/urdf/A1_URDF_0607_0028.urdf +511 -0
  22. ROBOTS/GALAXEA/urdf/A1_URDF_0607_0028_no_gripper.urdf +393 -0
  23. ROBOTS/ZR_H1PRO/ZR_H1PRO-1.1.03.H.2025.08.15_URDF_V1/ZR_H1_V3.0_25.08.17/meshes/left_jaw_left_finger_link.STL +0 -0
  24. ROBOTS/ZR_H1PRO/ZR_H1PRO-1.1.03.H.2025.08.15_URDF_V1/ZR_H1_V3.0_25.08.17/meshes/left_jaw_right_finger_link.STL +0 -0
  25. ROBOTS/ZR_H1PRO/ZR_H1PRO-1.1.03.H.2025.08.15_URDF_V1/ZR_H1_V3.0_25.08.17/meshes/right_jaw_left_finger_link.STL +0 -0
  26. ROBOTS/ZR_H1PRO/ZR_H1PRO-1.1.03.H.2025.08.15_URDF_V1/ZR_H1_V3.0_25.08.17/meshes/right_jaw_right_finger_link.STL +0 -0
  27. ROBOTS/ZR_H1PRO/ZR_H1PRO-1.1.03.H.2025.08.15_URDF_V1/ZR_H1_V3.0_25.08.17/urdf/ZR_H1_V3.0_25.08.17.urdf +1381 -0
  28. ROBOTS/ZR_H1PRO/ZR_H1PRO-1.1.03.H.2025.08.15_URDF_V1/ZR_H1_V3.0_25.08.17/usd/Collected_ZERITH_robot0211/.collect.mapping.json +4 -0
  29. ROBOTS/ZR_H1PRO/ZR_H1PRO-1.1.03.H.2025.08.15_URDF_V1/ZR_H1_V3.0_25.08.17/usd/Collected_ZERITH_robot0211/ZERITH_robot0211.usdc +0 -0
  30. ROBOTS/ZR_H1PRO/ZR_H1PRO-1.1.03.H.2025.08.15_URDF_V1/ZR_H1_V3.0_25.08.17/usd/Collected_ZERITH_robot0211/ZERITH_robot0224.usd +0 -0
  31. ROBOTS/dualarm_piper/dae/README.md +2 -0
  32. ROBOTS/dualarm_piper/dae/base_link.dae +0 -0
  33. ROBOTS/dualarm_piper/dae/link1_rot.dae +0 -0
  34. ROBOTS/dualarm_piper/dae/link2_rot.dae +0 -0
  35. ROBOTS/dualarm_piper/dae/link3_rot.dae +0 -0
  36. ROBOTS/dualarm_piper/dae/link4_rot.dae +0 -0
  37. ROBOTS/dualarm_piper/dae/link5_rot.dae +0 -0
  38. ROBOTS/dualarm_piper/dae/link6_rot.dae +0 -0
  39. ROBOTS/dualarm_piper/dae/link7_rot.dae +0 -0
  40. ROBOTS/dualarm_piper/dae/link8_rot.dae +0 -0
  41. ROBOTS/dualarm_piper/dae/link8_rot_textured.dae +0 -0
  42. ROBOTS/dualarm_piper/dae_linear/base_link.dae +0 -0
  43. ROBOTS/dualarm_piper/dae_linear/link1_rot.dae +0 -0
  44. ROBOTS/dualarm_piper/dae_linear/link2_rot.dae +0 -0
  45. ROBOTS/dualarm_piper/dae_linear/link3_rot.dae +0 -0
  46. ROBOTS/dualarm_piper/dae_linear/link4_rot.dae +0 -0
  47. ROBOTS/dualarm_piper/dae_linear/link5_rot.dae +0 -0
  48. ROBOTS/dualarm_piper/dae_linear/link6_rot.dae +0 -0
  49. ROBOTS/dualarm_piper/dae_linear/link7_rot.dae +0 -0
  50. ROBOTS/dualarm_piper/dae_linear/link8_rot.dae +0 -0
ROBOTS/FR3/meshes/fr3_link3_visuals.mtl ADDED
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ROBOTS/FR3/meshes/fr3_link3_visuals.obj ADDED
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+ arm_seg2,0.23622,0.016356,9.154E-05,0,0,0,0.52666,0.00060643,-0.00041827,0.00014951,0.0075939,8.093E-06,0.0075715,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg2.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg2.STL,,A1_EVT3_0605.STEP-1/J3_URDF.STEP-1,坐标系2,基准轴2,arm_joint2,revolute,0,-4E-05,0.0615,1.5708,0,0,arm_seg1,0,0,1,40,20.944,0,3.2289,,,,,,,,
5
+ arm_seg3,0.054443,0.045347,0.00042807,0,0,0,0.42157,0.0013904,-0.00022559,9.6874E-06,0.00059564,7.1658E-06,0.0014962,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg3.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg3.STL,,A1_EVT3_0605.STEP-1/J4_URDF.STEP-1,坐标系3,基准轴3,arm_joint3,revolute,0.34928,0.02,0,0,0,1.5708,arm_seg2,0,0,-1,27,7.5398,-3.3161,0,,,,,,,,
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+ arm_seg4,7.6256E-07,-0.0021448,0.27415,0,0,0,0.17613,9.7042E-05,-5.177E-09,-2.2681E-09,0.00010174,8.2528E-07,8.4501E-05,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg4.STL,1,1,1,1,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg4.STL,,A1_EVT3_0605.STEP-1/J5_URDF.STEP-1,坐标系4,基准轴4,arm_joint4,revolute,0.07,-0.00395,-4E-05,1.5708,1.5708,0,arm_seg3,0,0,1,7,25.133,-2.8798,2.8798,,,,,,,,
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+ arm_seg5,-3.9997E-06,-0.05431,0.0034482,0,0,0,0.15973,0.00011332,7.432E-08,1.368E-08,8.3999E-05,-1.6234E-05,9.8497E-05,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg5.STL,1,1,1,1,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg5.STL,,A1_EVT3_0605.STEP-1/J6_URDF.STEP-1,坐标系5,基准轴5,arm_joint5,revolute,0,0,0.2776,-1.5708,0,3.1416,arm_seg4,0,0,1,7,25.133,-1.6581,1.6581,,,,,,,,
8
+ arm_seg6,2.406E-06,-9.4582E-08,-0.038796,0,0,0,0.18127,0.00011445,3.336E-10,1.4799E-08,0.00011239,-6.1057E-10,7.4519E-05,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg6.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg6.STL,,A1_EVT3_0605.STEP-1/G1_URDF.STEP-1,坐标系6,基准轴6,arm_joint6,revolute,0,-0.1575,-0.00023266,1.5708,0,0,arm_seg5,0,0,-1,7,25.133,-2.8798,2.8798,,,,,,,,
9
+ gripper1,0.022575,-0.01276,0.015787,0,0,0,0.020333,1.7676E-06,8.2594E-08,2.5995E-07,4.7258E-06,1.2291E-07,5.2672E-06,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/gripper1.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/gripper1.STL,,A1_EVT3_0605.STEP-1/Finger_URDF.STEP-2,坐标系7,基准轴7,gripper1_axis,prismatic,0.014,-0.011914,0.003125,1.5708,-1.5708,0,arm_seg6,0,0,1,200,0.25,0,0.03,,,,,,,,
10
+ gripper2,0.022575,-0.01276,0.015787,0,0,0,0.020333,1.7676E-06,8.2594E-08,2.5995E-07,4.7258E-06,1.2291E-07,5.2672E-06,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/gripper2.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/gripper2.STL,,A1_EVT3_0605.STEP-1/Finger_URDF.STEP-1,坐标系8,基准轴8,gripper2_axis,prismatic,-0.014,0.011914,0.003125,1.5708,-1.5708,0,arm_seg6,0,0,1,200,0.25,0,0.03,,,,,,,,
ROBOTS/GALAXEA/GALAXEA/urdf/A1_URDF_0607_0028.urdf ADDED
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+ <?xml version="1.0" encoding="utf-8"?>
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+ <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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+ Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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+ For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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+ <robot
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+ name="A1_URDF_0607_0028">
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+ </geometry>
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+ </collision>
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+ name="arm_seg1">
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+ rpy="0 0 0" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint
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+ name="arm_joint1"
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+ type="revolute">
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+ rpy="0 0 3.1416" />
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+ <parent
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+ lower="-2.8798"
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+ upper="2.8798"
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+ effort="40"
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+ velocity="20.944" />
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+ </joint>
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+ <link
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+ name="arm_seg2">
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+ <inertial>
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+ <origin
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+ rpy="0 0 0" />
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+ <geometry>
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+ </geometry>
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+ <material
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+ name="">
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+ rgba="0.79216 0.81961 0.93333 1" />
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+ <mesh
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+ filename="package://mobiman/urdf/A1/meshes/arm_seg2.STL" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint
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+ name="arm_joint2"
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+ type="revolute">
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+ <origin
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+ xyz="0 -4E-05 0.0615"
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+ rpy="1.5708 0 0" />
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+ <parent
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+ link="arm_seg1" />
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+ <child
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+ link="arm_seg2" />
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+ xyz="0 0 1" />
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+ <limit
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+ lower="0"
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+ upper="3.1415"
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+ effort="40"
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+ velocity="20.944" />
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+ </joint>
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+ <link
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+ name="arm_seg3">
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+ <origin
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+ xyz="0.054443 0.045347 0.00042807"
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+ rpy="0 0 0" />
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+ izz="0.0014962" />
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+ <mesh
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+ filename="package://mobiman/urdf/A1/meshes/arm_seg3.STL" />
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+ </geometry>
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+ <joint
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+ name="arm_joint3"
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+ type="revolute">
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+ rpy="0 0 1.5708" />
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+ lower="-3.3161"
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+ upper="0"
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+ effort="27"
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+ velocity="7.5398" />
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+ </joint>
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+ <link
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+ name="arm_seg4">
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+ <origin
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+ xyz="7.6256E-07 -0.0021448 0.27415"
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+ rpy="0 0 0" />
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+ ixx="9.7042E-05"
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+ <mesh
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+ </geometry>
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+ name="">
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+ rgba="1 1 1 1" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint
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+ name="arm_joint4"
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+ type="revolute">
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+ </joint>
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+ name="arm_seg5">
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+ </geometry>
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+ </geometry>
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+ </link>
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+ name="arm_joint5"
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+ type="revolute">
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+ <parent
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+ effort="7"
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+ </joint>
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+ name="arm_seg6">
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+ </geometry>
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+ </joint>
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+ </inertial>
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+ </geometry>
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+ </collision>
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+ </link>
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+ name="gripper1_axis"
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+ xyz="0.014 -0.011914 0.003125"
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+ rpy="1.5708 -1.5708 3.1415" />
441
+ <parent
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+ link="arm_seg6" />
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+ <child
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+ link="gripper1" />
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+ <axis
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+ xyz="0 0 1" />
447
+ <limit
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+ lower="0"
449
+ upper="0.03"
450
+ effort="200"
451
+ velocity="0.25" />
452
+ </joint>
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+ <link
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+ name="gripper2">
455
+ <inertial>
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+ <origin
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+ xyz="0.022575 -0.01276 0.015787"
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+ rpy="0 0 0" />
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+ <mass
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+ value="0.057" />
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+ <inertia
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+ ixx="1.7676E-06"
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+ ixy="8.2594E-08"
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+ ixz="2.5995E-07"
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+ iyy="4.7258E-06"
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+ iyz="1.2291E-07"
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+ izz="5.2672E-06" />
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+ </inertial>
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+ <visual>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://mobiman/urdf/A1/meshes/gripper2.STL" />
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+ </geometry>
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+ <material
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+ name="">
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+ <color
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+ rgba="0.79216 0.81961 0.93333 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://mobiman/urdf/A1/meshes/gripper2.STL" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint
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+ name="gripper2_axis"
495
+ type="fixed">
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+ <origin
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+ xyz="-0.014 0.011914 0.003125"
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+ rpy="-1.5708 -1.5708 3.1415" />
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+ <parent
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+ link="arm_seg6" />
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+ <child
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+ link="gripper2" />
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+ <axis
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+ xyz="0 0 1" />
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+ <limit
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+ lower="0"
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+ upper="0.03"
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+ effort="200"
509
+ velocity="0.25" />
510
+ </joint>
511
+ </robot>
ROBOTS/GALAXEA/GALAXEA/urdf/A1_URDF_0607_0028_no_gripper.urdf ADDED
@@ -0,0 +1,393 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" encoding="utf-8"?>
2
+ <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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+ Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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+ For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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+ <robot
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+ name="A1_URDF_0607_0028">
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+ <link
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+ name="base_link">
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+ <inertial>
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+ <origin
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+ xyz="-0.00056269 -4.1498E-06 0.038934"
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+ rpy="0 0 0" />
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+ value="1.0" />
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+ ixx="0.0010597"
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+ ixy="1.6825E-07"
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+ iyy="0.0010647"
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+ iyz="1.9312E-07"
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+ izz="0.0011787" />
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+ </inertial>
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+ <visual>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://mobiman/urdf/A1/meshes/base_link.STL" />
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+ </geometry>
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+ <material
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+ name="">
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+ <color
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+ rgba="0.79216 0.81961 0.93333 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://mobiman/urdf/A1/meshes/base_link.STL" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <link
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+ name="arm_seg1">
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+ <inertial>
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+ <origin
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+ xyz="-1.4403E-06 -0.00074041 0.056573"
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+ rpy="0 0 0" />
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+ <mass
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+ value="1.391" />
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+ <inertia
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+ ixx="0.00058101"
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+ ixy="-7.5672E-09"
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+ ixz="-2.9207E-08"
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+ iyy="0.00070857"
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+ iyz="8.5639E-07"
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+ izz="0.00044583" />
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+ </inertial>
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+ <visual>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://mobiman/urdf/A1/meshes/arm_seg1.STL" />
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+ </geometry>
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+ <material
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+ name="">
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+ <color
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+ rgba="0.79216 0.81961 0.93333 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://mobiman/urdf/A1/meshes/arm_seg1.STL" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint
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+ name="arm_joint1"
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+ type="revolute">
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+ <origin
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+ xyz="-0.0011147 0 0.0892"
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+ rpy="0 0 3.1416" />
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+ <parent
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+ link="base_link" />
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+ <child
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+ link="arm_seg1" />
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+ <axis
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+ xyz="0 0 1" />
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+ <limit
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+ lower="-2.8798"
101
+ upper="2.8798"
102
+ effort="40"
103
+ velocity="20.944" />
104
+ </joint>
105
+ <link
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+ name="arm_seg2">
107
+ <inertial>
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+ <origin
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+ xyz="0.23622 0.016356 9.154E-05"
110
+ rpy="0 0 0" />
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+ <mass
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+ value="1.3" />
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+ <inertia
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+ ixx="0.00060643"
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+ ixy="-0.00041827"
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+ ixz="0.00014951"
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+ iyy="0.0075939"
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+ iyz="8.093E-06"
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+ izz="0.0075715" />
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+ </inertial>
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+ <visual>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://mobiman/urdf/A1/meshes/arm_seg2.STL" />
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+ </geometry>
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+ <material
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+ name="">
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+ <color
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+ rgba="0.79216 0.81961 0.93333 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://mobiman/urdf/A1/meshes/arm_seg2.STL" />
142
+ </geometry>
143
+ </collision>
144
+ </link>
145
+ <joint
146
+ name="arm_joint2"
147
+ type="revolute">
148
+ <origin
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+ xyz="0 -4E-05 0.0615"
150
+ rpy="1.5708 0 0" />
151
+ <parent
152
+ link="arm_seg1" />
153
+ <child
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+ link="arm_seg2" />
155
+ <axis
156
+ xyz="0 0 1" />
157
+ <limit
158
+ lower="0"
159
+ upper="3.1415"
160
+ effort="40"
161
+ velocity="20.944" />
162
+ </joint>
163
+ <link
164
+ name="arm_seg3">
165
+ <inertial>
166
+ <origin
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+ xyz="0.054443 0.045347 0.00042807"
168
+ rpy="0 0 0" />
169
+ <mass
170
+ value="0.818" />
171
+ <inertia
172
+ ixx="0.0013904"
173
+ ixy="-0.00022559"
174
+ ixz="9.6874E-06"
175
+ iyy="0.00059564"
176
+ iyz="7.1658E-06"
177
+ izz="0.0014962" />
178
+ </inertial>
179
+ <visual>
180
+ <origin
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+ xyz="0 0 0"
182
+ rpy="0 0 0" />
183
+ <geometry>
184
+ <mesh
185
+ filename="package://mobiman/urdf/A1/meshes/arm_seg3.STL" />
186
+ </geometry>
187
+ <material
188
+ name="">
189
+ <color
190
+ rgba="0.79216 0.81961 0.93333 1" />
191
+ </material>
192
+ </visual>
193
+ <collision>
194
+ <origin
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+ xyz="0 0 0"
196
+ rpy="0 0 0" />
197
+ <geometry>
198
+ <mesh
199
+ filename="package://mobiman/urdf/A1/meshes/arm_seg3.STL" />
200
+ </geometry>
201
+ </collision>
202
+ </link>
203
+ <joint
204
+ name="arm_joint3"
205
+ type="revolute">
206
+ <origin
207
+ xyz="0.34928 0.02 0"
208
+ rpy="0 0 1.5708" />
209
+ <parent
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+ link="arm_seg2" />
211
+ <child
212
+ link="arm_seg3" />
213
+ <axis
214
+ xyz="0 0 1" />
215
+ <limit
216
+ lower="-3.3161"
217
+ upper="0"
218
+ effort="27"
219
+ velocity="7.5398" />
220
+ </joint>
221
+ <link
222
+ name="arm_seg4">
223
+ <inertial>
224
+ <origin
225
+ xyz="7.6256E-07 -0.0021448 0.27415"
226
+ rpy="0 0 0" />
227
+ <mass
228
+ value="0.816" />
229
+ <inertia
230
+ ixx="9.7042E-05"
231
+ ixy="-5.177E-09"
232
+ ixz="-2.2681E-09"
233
+ iyy="0.00010174"
234
+ iyz="8.2528E-07"
235
+ izz="8.4501E-05" />
236
+ </inertial>
237
+ <visual>
238
+ <origin
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+ xyz="0 0 0"
240
+ rpy="0 0 0" />
241
+ <geometry>
242
+ <mesh
243
+ filename="package://mobiman/urdf/A1/meshes/arm_seg4.STL" />
244
+ </geometry>
245
+ <material
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+ name="">
247
+ <color
248
+ rgba="1 1 1 1" />
249
+ </material>
250
+ </visual>
251
+ <collision>
252
+ <origin
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+ xyz="0 0 0"
254
+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://mobiman/urdf/A1/meshes/arm_seg4.STL" />
258
+ </geometry>
259
+ </collision>
260
+ </link>
261
+ <joint
262
+ name="arm_joint4"
263
+ type="revolute">
264
+ <origin
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+ xyz="0.07 -0.00395 -4E-05"
266
+ rpy="-1.5708 1.5708 0" />
267
+ <parent
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+ link="arm_seg3" />
269
+ <child
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+ link="arm_seg4" />
271
+ <axis
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+ xyz="0 0 1" />
273
+ <limit
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+ lower="-2.8798"
275
+ upper="2.8798"
276
+ effort="7"
277
+ velocity="25.133" />
278
+ </joint>
279
+ <link
280
+ name="arm_seg5">
281
+ <inertial>
282
+ <origin
283
+ xyz="-3.9997E-06 -0.05431 0.0034482"
284
+ rpy="0 0 0" />
285
+ <mass
286
+ value="0.801" />
287
+ <inertia
288
+ ixx="0.00011332"
289
+ ixy="7.432E-08"
290
+ ixz="1.368E-08"
291
+ iyy="8.3999E-05"
292
+ iyz="-1.6234E-05"
293
+ izz="9.8497E-05" />
294
+ </inertial>
295
+ <visual>
296
+ <origin
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+ xyz="0 0 0"
298
+ rpy="0 0 0" />
299
+ <geometry>
300
+ <mesh
301
+ filename="package://mobiman/urdf/A1/meshes/arm_seg5.STL" />
302
+ </geometry>
303
+ <material
304
+ name="">
305
+ <color
306
+ rgba="1 1 1 1" />
307
+ </material>
308
+ </visual>
309
+ <collision>
310
+ <origin
311
+ xyz="0 0 0"
312
+ rpy="0 0 0" />
313
+ <geometry>
314
+ <mesh
315
+ filename="package://mobiman/urdf/A1/meshes/arm_seg5.STL" />
316
+ </geometry>
317
+ </collision>
318
+ </link>
319
+ <joint
320
+ name="arm_joint5"
321
+ type="revolute">
322
+ <origin
323
+ xyz="0 0 0.2776"
324
+ rpy="-1.5708 0 3.1416" />
325
+ <parent
326
+ link="arm_seg4" />
327
+ <child
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+ link="arm_seg5" />
329
+ <axis
330
+ xyz="0 0 1" />
331
+ <limit
332
+ lower="-1.6581"
333
+ upper="1.6581"
334
+ effort="7"
335
+ velocity="25.133" />
336
+ </joint>
337
+ <link
338
+ name="arm_seg6">
339
+ <inertial>
340
+ <origin
341
+ xyz="2.406E-06 -9.4582E-08 -0.038796"
342
+ rpy="0 0 0" />
343
+ <mass
344
+ value="0.0001" />
345
+ <inertia
346
+ ixx="0.00011445"
347
+ ixy="3.336E-10"
348
+ ixz="1.4799E-08"
349
+ iyy="0.00011239"
350
+ iyz="-6.1057E-10"
351
+ izz="7.4519E-05" />
352
+ </inertial>
353
+ <visual>
354
+ <origin
355
+ xyz="0 0 0"
356
+ rpy="0 0 0" />
357
+ <geometry>
358
+ <cylinder radius="0.0001" length="0.0001" />
359
+ </geometry>
360
+ <material
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+ name="">
362
+ <color
363
+ rgba="0.79216 0.81961 0.93333 1" />
364
+ </material>
365
+ </visual>
366
+ <collision>
367
+ <origin
368
+ xyz="0 0 0"
369
+ rpy="0 0 0" />
370
+ <geometry>
371
+ <cylinder radius="0.0001" length="0.0001" />
372
+ </geometry>
373
+ </collision>
374
+ </link>
375
+ <joint
376
+ name="arm_joint6"
377
+ type="revolute">
378
+ <origin
379
+ xyz="0 -0.08 -0.00023266"
380
+ rpy="1.5708 0 0" />
381
+ <parent
382
+ link="arm_seg5" />
383
+ <child
384
+ link="arm_seg6" />
385
+ <axis
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+ xyz="0 0 1" />
387
+ <limit
388
+ lower="-2.8798"
389
+ upper="2.8798"
390
+ effort="7"
391
+ velocity="25.133" />
392
+ </joint>
393
+ </robot>
ROBOTS/GALAXEA/urdf/A1_URDF_0607_0028.csv ADDED
@@ -0,0 +1,10 @@
 
 
 
 
 
 
 
 
 
 
 
1
+ Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
2
+ base_link,-0.00056269,-4.1498E-06,0.038934,0,0,0,0.74975,0.0010597,1.6825E-07,1.9821E-05,0.0010647,1.9312E-07,0.0011787,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/base_link.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/base_link.STL,,A1_EVT3_0605.STEP-1/J1_URDF.STEP-1,base_link,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
3
+ arm_seg1,-1.4403E-06,-0.00074041,0.056573,0,0,0,0.51082,0.00058101,-7.5672E-09,-2.9207E-08,0.00070857,8.5639E-07,0.00044583,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg1.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg1.STL,,A1_EVT3_0605.STEP-1/J2_URDF.STEP-1,坐标系1,基准轴1,arm_joint1,revolute,-0.0011147,0,0.0892,0,0,3.1416,base_link,0,0,1,40,20.944,-2.8798,2.8798,,,,,,,,
4
+ arm_seg2,0.23622,0.016356,9.154E-05,0,0,0,0.52666,0.00060643,-0.00041827,0.00014951,0.0075939,8.093E-06,0.0075715,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg2.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg2.STL,,A1_EVT3_0605.STEP-1/J3_URDF.STEP-1,坐标系2,基准轴2,arm_joint2,revolute,0,-4E-05,0.0615,1.5708,0,0,arm_seg1,0,0,1,40,20.944,0,3.2289,,,,,,,,
5
+ arm_seg3,0.054443,0.045347,0.00042807,0,0,0,0.42157,0.0013904,-0.00022559,9.6874E-06,0.00059564,7.1658E-06,0.0014962,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg3.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg3.STL,,A1_EVT3_0605.STEP-1/J4_URDF.STEP-1,坐标系3,基准轴3,arm_joint3,revolute,0.34928,0.02,0,0,0,1.5708,arm_seg2,0,0,-1,27,7.5398,-3.3161,0,,,,,,,,
6
+ arm_seg4,7.6256E-07,-0.0021448,0.27415,0,0,0,0.17613,9.7042E-05,-5.177E-09,-2.2681E-09,0.00010174,8.2528E-07,8.4501E-05,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg4.STL,1,1,1,1,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg4.STL,,A1_EVT3_0605.STEP-1/J5_URDF.STEP-1,坐标系4,基准轴4,arm_joint4,revolute,0.07,-0.00395,-4E-05,1.5708,1.5708,0,arm_seg3,0,0,1,7,25.133,-2.8798,2.8798,,,,,,,,
7
+ arm_seg5,-3.9997E-06,-0.05431,0.0034482,0,0,0,0.15973,0.00011332,7.432E-08,1.368E-08,8.3999E-05,-1.6234E-05,9.8497E-05,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg5.STL,1,1,1,1,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg5.STL,,A1_EVT3_0605.STEP-1/J6_URDF.STEP-1,坐标系5,基准轴5,arm_joint5,revolute,0,0,0.2776,-1.5708,0,3.1416,arm_seg4,0,0,1,7,25.133,-1.6581,1.6581,,,,,,,,
8
+ arm_seg6,2.406E-06,-9.4582E-08,-0.038796,0,0,0,0.18127,0.00011445,3.336E-10,1.4799E-08,0.00011239,-6.1057E-10,7.4519E-05,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg6.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/arm_seg6.STL,,A1_EVT3_0605.STEP-1/G1_URDF.STEP-1,坐标系6,基准轴6,arm_joint6,revolute,0,-0.1575,-0.00023266,1.5708,0,0,arm_seg5,0,0,-1,7,25.133,-2.8798,2.8798,,,,,,,,
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+ gripper1,0.022575,-0.01276,0.015787,0,0,0,0.020333,1.7676E-06,8.2594E-08,2.5995E-07,4.7258E-06,1.2291E-07,5.2672E-06,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/gripper1.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/gripper1.STL,,A1_EVT3_0605.STEP-1/Finger_URDF.STEP-2,坐标系7,基准轴7,gripper1_axis,prismatic,0.014,-0.011914,0.003125,1.5708,-1.5708,0,arm_seg6,0,0,1,200,0.25,0,0.03,,,,,,,,
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+ gripper2,0.022575,-0.01276,0.015787,0,0,0,0.020333,1.7676E-06,8.2594E-08,2.5995E-07,4.7258E-06,1.2291E-07,5.2672E-06,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/gripper2.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://A1_URDF_0607_0028/meshes/gripper2.STL,,A1_EVT3_0605.STEP-1/Finger_URDF.STEP-1,坐标系8,基准轴8,gripper2_axis,prismatic,-0.014,0.011914,0.003125,1.5708,-1.5708,0,arm_seg6,0,0,1,200,0.25,0,0.03,,,,,,,,
ROBOTS/GALAXEA/urdf/A1_URDF_0607_0028.urdf ADDED
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+ <?xml version="1.0" encoding="utf-8"?>
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+ <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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+ Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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+ For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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+ <robot
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+ name="A1_URDF_0607_0028">
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+ name="base_link">
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+ </geometry>
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+ name="">
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+ </geometry>
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+ </collision>
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+ </link>
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+ <link
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+ name="arm_seg1">
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+ <origin
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+ rpy="0 0 0" />
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+ </geometry>
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+ </geometry>
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+ name="arm_joint1"
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+ </geometry>
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+ name="arm_joint2"
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+ <parent
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+ xyz="0 0 1" />
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+ <limit
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+ lower="0"
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+ upper="3.1415"
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+ effort="40"
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+ velocity="20.944" />
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+ </joint>
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+ <link
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+ name="arm_seg3">
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+ <origin
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+ rpy="0 0 0" />
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+ </geometry>
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+ <joint
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+ name="arm_joint3"
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+ type="revolute">
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+ rpy="0 0 1.5708" />
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+ <parent
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+ lower="-3.3161"
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+ upper="0"
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+ effort="27"
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+ velocity="7.5398" />
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+ </joint>
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+ name="arm_seg4">
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+ </geometry>
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+ </geometry>
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+ </link>
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+ name="arm_joint4"
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+ type="revolute">
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+ </joint>
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+ </geometry>
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+ </joint>
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+ </joint>
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+ </geometry>
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+ </collision>
1304
+ </link>
1305
+ <joint
1306
+ name="neck_yaw_joint"
1307
+ type="revolute">
1308
+ <origin
1309
+ xyz="0 0 0.2581"
1310
+ rpy="0 0 0" />
1311
+ <parent
1312
+ link="body_yaw_link" />
1313
+ <child
1314
+ link="neck_yaw_link" />
1315
+ <axis
1316
+ xyz="0 0 1" />
1317
+ <limit
1318
+ lower="-1.5708"
1319
+ upper="1.5708"
1320
+ effort="9"
1321
+ velocity="16.747" />
1322
+ </joint>
1323
+ <link
1324
+ name="neck_pitch_link">
1325
+ <inertial>
1326
+ <origin
1327
+ xyz="0.01863885 0.0011316 0.02771593"
1328
+ rpy="0 0 0" />
1329
+ <mass
1330
+ value="1.35763521" />
1331
+ <inertia
1332
+ ixx="0.00381892"
1333
+ ixy="-6.76e-06"
1334
+ ixz="6.041e-05"
1335
+ iyy="0.00389934"
1336
+ iyz="5.269e-05"
1337
+ izz="0.00269518" />
1338
+ </inertial>
1339
+ <visual>
1340
+ <origin
1341
+ xyz="0 0 0"
1342
+ rpy="0 0 0" />
1343
+ <geometry>
1344
+ <mesh
1345
+ filename="package://ZR_H1_V3.0_25.08.17/meshes/neck_pitch_link.STL" />
1346
+ </geometry>
1347
+ <material
1348
+ name="">
1349
+ <color
1350
+ rgba="0.64706 0.61961 0.58824 1" />
1351
+ </material>
1352
+ </visual>
1353
+ <collision>
1354
+ <origin
1355
+ xyz="0 0 0"
1356
+ rpy="0 0 0" />
1357
+ <geometry>
1358
+ <mesh
1359
+ filename="package://ZR_H1_V3.0_25.08.17/meshes/neck_pitch_link.STL" />
1360
+ </geometry>
1361
+ </collision>
1362
+ </link>
1363
+ <joint
1364
+ name="neck_pitch_joint"
1365
+ type="revolute">
1366
+ <origin
1367
+ xyz="0 0 0.10095"
1368
+ rpy="0 0 0" />
1369
+ <parent
1370
+ link="neck_yaw_link" />
1371
+ <child
1372
+ link="neck_pitch_link" />
1373
+ <axis
1374
+ xyz="0 1 0" />
1375
+ <limit
1376
+ lower="-0.174532922"
1377
+ upper="0.2618"
1378
+ effort="9"
1379
+ velocity="16.747" />
1380
+ </joint>
1381
+ </robot>
ROBOTS/ZR_H1PRO/ZR_H1PRO-1.1.03.H.2025.08.15_URDF_V1/ZR_H1_V3.0_25.08.17/usd/Collected_ZERITH_robot0211/.collect.mapping.json ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ {
2
+ "version": "1.0",
3
+ "file_records": []
4
+ }
ROBOTS/ZR_H1PRO/ZR_H1PRO-1.1.03.H.2025.08.15_URDF_V1/ZR_H1_V3.0_25.08.17/usd/Collected_ZERITH_robot0211/ZERITH_robot0211.usdc ADDED
Binary file (12.5 kB). View file
 
ROBOTS/ZR_H1PRO/ZR_H1PRO-1.1.03.H.2025.08.15_URDF_V1/ZR_H1_V3.0_25.08.17/usd/Collected_ZERITH_robot0211/ZERITH_robot0224.usd ADDED
Binary file (11.2 kB). View file
 
ROBOTS/dualarm_piper/dae/README.md ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ These dae files are from https://github.com/agilexrobotics/mobile_aloha_sim/tree/v2.0.0/aloha_new_description/meshes.
2
+ They are rotated to match the piper STL(https://github.com/agilexrobotics/piper_ros/tree/humble/src/piper_description/meshes), and the diffuse color is revised to match the real robot.
ROBOTS/dualarm_piper/dae/base_link.dae ADDED
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ROBOTS/dualarm_piper/dae/link1_rot.dae ADDED
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ROBOTS/dualarm_piper/dae/link2_rot.dae ADDED
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ROBOTS/dualarm_piper/dae/link3_rot.dae ADDED
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ROBOTS/dualarm_piper/dae/link4_rot.dae ADDED
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ROBOTS/dualarm_piper/dae/link5_rot.dae ADDED
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ROBOTS/dualarm_piper/dae/link6_rot.dae ADDED
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ROBOTS/dualarm_piper/dae/link7_rot.dae ADDED
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ROBOTS/dualarm_piper/dae/link8_rot.dae ADDED
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ROBOTS/dualarm_piper/dae/link8_rot_textured.dae ADDED
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ROBOTS/dualarm_piper/dae_linear/base_link.dae ADDED
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ROBOTS/dualarm_piper/dae_linear/link1_rot.dae ADDED
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ROBOTS/dualarm_piper/dae_linear/link2_rot.dae ADDED
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ROBOTS/dualarm_piper/dae_linear/link3_rot.dae ADDED
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ROBOTS/dualarm_piper/dae_linear/link4_rot.dae ADDED
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ROBOTS/dualarm_piper/dae_linear/link5_rot.dae ADDED
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ROBOTS/dualarm_piper/dae_linear/link6_rot.dae ADDED
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ROBOTS/dualarm_piper/dae_linear/link7_rot.dae ADDED
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ROBOTS/dualarm_piper/dae_linear/link8_rot.dae ADDED
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