Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- 12/episode_info.json +22 -0
- 12/metadata.yaml +78 -0
- 12/robot.urdf +1237 -0
- 15/episode_info.json +22 -0
- 15/metadata.yaml +78 -0
- 15/robot.urdf +1237 -0
- 17/camera_info/cam_left_head.yaml +55 -0
- 17/camera_info/cam_left_wrist.yaml +55 -0
- 17/camera_info/cam_right_head.yaml +55 -0
- 17/camera_info/cam_right_wrist.yaml +55 -0
- 17/camera_info/camera_metadata.yaml +23 -0
- 17/videos/17_0/cam_left_head_recorder_stats.json +43 -0
- 17/videos/17_0/cam_left_wrist_recorder_stats.json +43 -0
- 17/videos/17_0/cam_right_head_recorder_stats.json +43 -0
- 17/videos/17_0/cam_right_wrist_recorder_stats.json +43 -0
- 19/episode_info.json +22 -0
- 19/metadata.yaml +78 -0
- 19/robot.urdf +1237 -0
- 23/camera_info/cam_right_head.yaml +55 -0
- 23/camera_info/camera_metadata.yaml +23 -0
- 24/camera_info/cam_left_head.yaml +55 -0
- 24/camera_info/cam_left_wrist.yaml +55 -0
- 24/camera_info/cam_right_head.yaml +55 -0
- 24/camera_info/cam_right_wrist.yaml +55 -0
- 24/camera_info/camera_metadata.yaml +23 -0
- 24/videos/24_0/cam_left_head_recorder_stats.json +43 -0
- 24/videos/24_0/cam_left_wrist_recorder_stats.json +43 -0
- 24/videos/24_0/cam_right_head_recorder_stats.json +43 -0
- 24/videos/24_0/cam_right_wrist_recorder_stats.json +43 -0
- 29/camera_info/cam_left_head.yaml +55 -0
- 29/camera_info/cam_left_wrist.yaml +55 -0
- 29/camera_info/cam_right_head.yaml +55 -0
- 29/camera_info/cam_right_wrist.yaml +55 -0
- 29/camera_info/camera_metadata.yaml +23 -0
- 29/videos/29_0/cam_left_head_recorder_stats.json +43 -0
- 29/videos/29_0/cam_left_wrist_recorder_stats.json +43 -0
- 29/videos/29_0/cam_right_head_recorder_stats.json +43 -0
- 29/videos/29_0/cam_right_wrist_recorder_stats.json +43 -0
- 3/episode_info.json +22 -0
- 3/metadata.yaml +78 -0
- 3/robot.urdf +1237 -0
- 30/camera_info/cam_left_head.yaml +55 -0
- 30/camera_info/cam_left_wrist.yaml +55 -0
- 30/camera_info/cam_right_head.yaml +55 -0
- 30/camera_info/cam_right_wrist.yaml +55 -0
- 30/camera_info/camera_metadata.yaml +23 -0
- 30/videos/30_0/cam_left_head_recorder_stats.json +43 -0
- 30/videos/30_0/cam_left_wrist_recorder_stats.json +43 -0
- 30/videos/30_0/cam_right_head_recorder_stats.json +43 -0
- 30/videos/30_0/cam_right_wrist_recorder_stats.json +43 -0
12/episode_info.json
ADDED
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@@ -0,0 +1,22 @@
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| 1 |
+
{
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| 2 |
+
"task_instruction": "Move the left plate and the right plate to the center.",
|
| 3 |
+
"task_num": "999999",
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| 4 |
+
"task_name": "ACT_test_JC",
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| 5 |
+
"robot_type": "ffw_sg2_rev1",
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| 6 |
+
"device_serial": "ffw-SNPR48A1107",
|
| 7 |
+
"episode_index": 12,
|
| 8 |
+
"timestamp": "2026-07-03T08:37:56Z",
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| 9 |
+
"format_version": "robotis_v2",
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| 10 |
+
"segments": [
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| 11 |
+
{
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| 12 |
+
"sub_task_instruction": "Move the left plate and the right plate to the center.",
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| 13 |
+
"frame_duration": [
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| 14 |
+
0.0,
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| 15 |
+
13.721532405
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| 16 |
+
]
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| 17 |
+
}
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| 18 |
+
],
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| 19 |
+
"transcoding_status": "done",
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| 20 |
+
"video_remux_status": "done",
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| 21 |
+
"transcoding_cameras_failed": {}
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| 22 |
+
}
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12/metadata.yaml
ADDED
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@@ -0,0 +1,78 @@
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rosbag2_bagfile_information:
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| 2 |
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version: 9
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| 3 |
+
storage_identifier: mcap
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| 4 |
+
duration:
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| 5 |
+
nanoseconds: 13721532405
|
| 6 |
+
starting_time:
|
| 7 |
+
nanoseconds_since_epoch: 1783067862405168146
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| 8 |
+
message_count: 12285
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| 9 |
+
topics_with_message_count:
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| 10 |
+
- topic_metadata:
|
| 11 |
+
name: /cmd_vel
|
| 12 |
+
type: geometry_msgs/msg/Twist
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| 13 |
+
serialization_format: cdr
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| 14 |
+
offered_qos_profiles: []
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| 15 |
+
type_description_hash: ''
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| 16 |
+
message_count: 1373
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| 17 |
+
- topic_metadata:
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| 18 |
+
name: /joint_states
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| 19 |
+
type: sensor_msgs/msg/JointState
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| 20 |
+
serialization_format: cdr
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| 21 |
+
offered_qos_profiles: []
|
| 22 |
+
type_description_hash: ''
|
| 23 |
+
message_count: 1371
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| 24 |
+
- topic_metadata:
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| 25 |
+
name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
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| 26 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 27 |
+
serialization_format: cdr
|
| 28 |
+
offered_qos_profiles: []
|
| 29 |
+
type_description_hash: ''
|
| 30 |
+
message_count: 1373
|
| 31 |
+
- topic_metadata:
|
| 32 |
+
name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
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| 33 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 34 |
+
serialization_format: cdr
|
| 35 |
+
offered_qos_profiles: []
|
| 36 |
+
type_description_hash: ''
|
| 37 |
+
message_count: 1373
|
| 38 |
+
- topic_metadata:
|
| 39 |
+
name: /leader/joystick_controller_left/joint_trajectory
|
| 40 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 41 |
+
serialization_format: cdr
|
| 42 |
+
offered_qos_profiles: []
|
| 43 |
+
type_description_hash: ''
|
| 44 |
+
message_count: 1373
|
| 45 |
+
- topic_metadata:
|
| 46 |
+
name: /leader/joystick_controller_right/joint_trajectory
|
| 47 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 48 |
+
serialization_format: cdr
|
| 49 |
+
offered_qos_profiles: []
|
| 50 |
+
type_description_hash: ''
|
| 51 |
+
message_count: 1373
|
| 52 |
+
- topic_metadata:
|
| 53 |
+
name: /odom
|
| 54 |
+
type: nav_msgs/msg/Odometry
|
| 55 |
+
serialization_format: cdr
|
| 56 |
+
offered_qos_profiles: []
|
| 57 |
+
type_description_hash: ''
|
| 58 |
+
message_count: 1373
|
| 59 |
+
- topic_metadata:
|
| 60 |
+
name: /tf
|
| 61 |
+
type: tf2_msgs/msg/TFMessage
|
| 62 |
+
serialization_format: cdr
|
| 63 |
+
offered_qos_profiles: []
|
| 64 |
+
type_description_hash: ''
|
| 65 |
+
message_count: 2676
|
| 66 |
+
compression_format: ''
|
| 67 |
+
compression_mode: ''
|
| 68 |
+
relative_file_paths:
|
| 69 |
+
- 12_0.mcap
|
| 70 |
+
files:
|
| 71 |
+
- path: 12_0.mcap
|
| 72 |
+
starting_time:
|
| 73 |
+
nanoseconds_since_epoch: 1783067862405168146
|
| 74 |
+
duration:
|
| 75 |
+
nanoseconds: 13721532405
|
| 76 |
+
message_count: 12285
|
| 77 |
+
custom_data: null
|
| 78 |
+
ros_distro: jazzy
|
12/robot.urdf
ADDED
|
@@ -0,0 +1,1237 @@
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|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<!-- =================================================================================== -->
|
| 3 |
+
<!-- | This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro | -->
|
| 4 |
+
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
| 5 |
+
<!-- =================================================================================== -->
|
| 6 |
+
<robot name="ffw_sg2_follower">
|
| 7 |
+
<link name="base_link">
|
| 8 |
+
<visual>
|
| 9 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 10 |
+
<geometry>
|
| 11 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
|
| 12 |
+
</geometry>
|
| 13 |
+
<material name="silver">
|
| 14 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 15 |
+
</material>
|
| 16 |
+
</visual>
|
| 17 |
+
<collision>
|
| 18 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 19 |
+
<geometry>
|
| 20 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
|
| 21 |
+
</geometry>
|
| 22 |
+
</collision>
|
| 23 |
+
<inertial>
|
| 24 |
+
<origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
|
| 25 |
+
<mass value="3.598943900e+01"/>
|
| 26 |
+
<inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
|
| 27 |
+
</inertial>
|
| 28 |
+
</link>
|
| 29 |
+
<joint name="lidar_l_joint" type="fixed">
|
| 30 |
+
<parent link="base_link"/>
|
| 31 |
+
<child link="lidar_l_link"/>
|
| 32 |
+
<origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
|
| 33 |
+
</joint>
|
| 34 |
+
<link name="lidar_l_link">
|
| 35 |
+
</link>
|
| 36 |
+
<joint name="lidar_r_joint" type="fixed">
|
| 37 |
+
<parent link="base_link"/>
|
| 38 |
+
<child link="lidar_r_link"/>
|
| 39 |
+
<origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
|
| 40 |
+
</joint>
|
| 41 |
+
<link name="lidar_r_link">
|
| 42 |
+
</link>
|
| 43 |
+
<joint name="imu_joint" type="fixed">
|
| 44 |
+
<parent link="base_link"/>
|
| 45 |
+
<child link="imu_link"/>
|
| 46 |
+
<origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
|
| 47 |
+
</joint>
|
| 48 |
+
<link name="imu_link">
|
| 49 |
+
</link>
|
| 50 |
+
<link name="lift_link">
|
| 51 |
+
<visual>
|
| 52 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 53 |
+
<geometry>
|
| 54 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
|
| 55 |
+
</geometry>
|
| 56 |
+
<material name="silver">
|
| 57 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 58 |
+
</material>
|
| 59 |
+
</visual>
|
| 60 |
+
<collision>
|
| 61 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 62 |
+
<geometry>
|
| 63 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
|
| 64 |
+
</geometry>
|
| 65 |
+
</collision>
|
| 66 |
+
<inertial>
|
| 67 |
+
<origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
|
| 68 |
+
<mass value="1.790000000e+01"/>
|
| 69 |
+
<inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
|
| 70 |
+
</inertial>
|
| 71 |
+
</link>
|
| 72 |
+
<joint name="lift_fixed_joint" type="fixed">
|
| 73 |
+
<parent link="base_link"/>
|
| 74 |
+
<child link="lift_link"/>
|
| 75 |
+
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
| 76 |
+
</joint>
|
| 77 |
+
<material name="aluminum">
|
| 78 |
+
<color rgba="0.5 0.5 0.5 1"/>
|
| 79 |
+
</material>
|
| 80 |
+
<material name="plastic">
|
| 81 |
+
<color rgba="0.1 0.1 0.1 1"/>
|
| 82 |
+
</material>
|
| 83 |
+
<joint name="lift_joint" type="prismatic">
|
| 84 |
+
<parent link="base_link"/>
|
| 85 |
+
<child link="arm_base_link"/>
|
| 86 |
+
<origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
|
| 87 |
+
<axis xyz="0 0 1"/>
|
| 88 |
+
<limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
|
| 89 |
+
<dynamics damping="0.1"/>
|
| 90 |
+
</joint>
|
| 91 |
+
<link name="arm_base_link">
|
| 92 |
+
<visual>
|
| 93 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 94 |
+
<geometry>
|
| 95 |
+
<mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
|
| 96 |
+
</geometry>
|
| 97 |
+
<material name="white">
|
| 98 |
+
<color rgba="1 1 1 1"/>
|
| 99 |
+
</material>
|
| 100 |
+
</visual>
|
| 101 |
+
<collision>
|
| 102 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 103 |
+
<geometry>
|
| 104 |
+
<mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
|
| 105 |
+
</geometry>
|
| 106 |
+
</collision>
|
| 107 |
+
<inertial>
|
| 108 |
+
<origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
|
| 109 |
+
<mass value="6.193955900e+00"/>
|
| 110 |
+
<inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
|
| 111 |
+
</inertial>
|
| 112 |
+
</link>
|
| 113 |
+
<joint name="head_joint1" type="revolute">
|
| 114 |
+
<parent link="arm_base_link"/>
|
| 115 |
+
<child link="head_link1"/>
|
| 116 |
+
<origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
|
| 117 |
+
<axis xyz="0 1 0"/>
|
| 118 |
+
<limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
|
| 119 |
+
<dynamics damping="0.1"/>
|
| 120 |
+
</joint>
|
| 121 |
+
<link name="head_link1">
|
| 122 |
+
<visual>
|
| 123 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 124 |
+
<geometry>
|
| 125 |
+
<mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
|
| 126 |
+
</geometry>
|
| 127 |
+
<material name="grey">
|
| 128 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 129 |
+
</material>
|
| 130 |
+
</visual>
|
| 131 |
+
<collision>
|
| 132 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 133 |
+
<geometry>
|
| 134 |
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<mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
|
| 135 |
+
</geometry>
|
| 136 |
+
</collision>
|
| 137 |
+
<inertial>
|
| 138 |
+
<origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
|
| 139 |
+
<mass value="1.235180200e-01"/>
|
| 140 |
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<inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
|
| 141 |
+
</inertial>
|
| 142 |
+
</link>
|
| 143 |
+
<joint name="head_joint2" type="revolute">
|
| 144 |
+
<parent link="head_link1"/>
|
| 145 |
+
<child link="head_link2"/>
|
| 146 |
+
<origin rpy="0 0 0" xyz="0.040 0 0.054"/>
|
| 147 |
+
<axis xyz="0 0 1"/>
|
| 148 |
+
<limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
|
| 149 |
+
<dynamics damping="0.1"/>
|
| 150 |
+
</joint>
|
| 151 |
+
<link name="head_link2">
|
| 152 |
+
<visual>
|
| 153 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 154 |
+
<geometry>
|
| 155 |
+
<mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
|
| 156 |
+
</geometry>
|
| 157 |
+
<material name="white">
|
| 158 |
+
<color rgba="1 1 1 1"/>
|
| 159 |
+
</material>
|
| 160 |
+
</visual>
|
| 161 |
+
<collision>
|
| 162 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 163 |
+
<geometry>
|
| 164 |
+
<mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
|
| 165 |
+
</geometry>
|
| 166 |
+
</collision>
|
| 167 |
+
<inertial>
|
| 168 |
+
<origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
|
| 169 |
+
<mass value="3.254213000e-01"/>
|
| 170 |
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<inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
|
| 171 |
+
</inertial>
|
| 172 |
+
</link>
|
| 173 |
+
<link name="zedm_camera_link"/>
|
| 174 |
+
<link name="zedm_camera_center">
|
| 175 |
+
<visual>
|
| 176 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 177 |
+
<geometry>
|
| 178 |
+
<mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
|
| 179 |
+
</geometry>
|
| 180 |
+
<material name="zedm_mat">
|
| 181 |
+
<color rgba="0.25 0.25 0.25 1.0"/>
|
| 182 |
+
</material>
|
| 183 |
+
</visual>
|
| 184 |
+
<collision>
|
| 185 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 186 |
+
<geometry>
|
| 187 |
+
<mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
|
| 188 |
+
</geometry>
|
| 189 |
+
</collision>
|
| 190 |
+
</link>
|
| 191 |
+
<joint name="zedm_camera_center_joint" type="fixed">
|
| 192 |
+
<parent link="zedm_camera_link"/>
|
| 193 |
+
<child link="zedm_camera_center"/>
|
| 194 |
+
<origin rpy="0 0 0" xyz="0 0 0.01325"/>
|
| 195 |
+
</joint>
|
| 196 |
+
<link name="zedm_left_camera_frame"/>
|
| 197 |
+
<joint name="zedm_left_camera_joint" type="fixed">
|
| 198 |
+
<parent link="zedm_camera_center"/>
|
| 199 |
+
<child link="zedm_left_camera_frame"/>
|
| 200 |
+
<origin rpy="0 0 0" xyz="0 0.0315 0"/>
|
| 201 |
+
</joint>
|
| 202 |
+
<link name="zedm_left_camera_optical_frame"/>
|
| 203 |
+
<joint name="zedm_left_camera_optical_joint" type="fixed">
|
| 204 |
+
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
|
| 205 |
+
<parent link="zedm_left_camera_frame"/>
|
| 206 |
+
<child link="zedm_left_camera_optical_frame"/>
|
| 207 |
+
</joint>
|
| 208 |
+
<link name="zedm_right_camera_frame"/>
|
| 209 |
+
<joint name="zedm_right_camera_joint" type="fixed">
|
| 210 |
+
<parent link="zedm_camera_center"/>
|
| 211 |
+
<child link="zedm_right_camera_frame"/>
|
| 212 |
+
<origin rpy="0 0 0" xyz="0 -0.0315 0"/>
|
| 213 |
+
</joint>
|
| 214 |
+
<link name="zedm_right_camera_optical_frame"/>
|
| 215 |
+
<joint name="zedm_right_camera_optical_joint" type="fixed">
|
| 216 |
+
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
|
| 217 |
+
<parent link="zedm_right_camera_frame"/>
|
| 218 |
+
<child link="zedm_right_camera_optical_frame"/>
|
| 219 |
+
</joint>
|
| 220 |
+
<joint name="zedm_joint" type="fixed">
|
| 221 |
+
<parent link="head_link2"/>
|
| 222 |
+
<child link="zedm_camera_link"/>
|
| 223 |
+
<origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
|
| 224 |
+
</joint>
|
| 225 |
+
<joint name="arm_l_joint1" type="revolute">
|
| 226 |
+
<parent link="arm_base_link"/>
|
| 227 |
+
<child link="arm_l_link1"/>
|
| 228 |
+
<origin rpy="0 0 0" xyz="0 0.1045 0"/>
|
| 229 |
+
<axis xyz="0 1 0"/>
|
| 230 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 231 |
+
<dynamics damping="0.1"/>
|
| 232 |
+
</joint>
|
| 233 |
+
<link name="arm_l_link1">
|
| 234 |
+
<visual>
|
| 235 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 236 |
+
<geometry>
|
| 237 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
|
| 238 |
+
</geometry>
|
| 239 |
+
<material name="black">
|
| 240 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 241 |
+
</material>
|
| 242 |
+
</visual>
|
| 243 |
+
<collision>
|
| 244 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 245 |
+
<geometry>
|
| 246 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
|
| 247 |
+
</geometry>
|
| 248 |
+
</collision>
|
| 249 |
+
<inertial>
|
| 250 |
+
<origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
|
| 251 |
+
<mass value="2.001332200e+00"/>
|
| 252 |
+
<inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
|
| 253 |
+
</inertial>
|
| 254 |
+
</link>
|
| 255 |
+
<joint name="arm_l_joint2" type="revolute">
|
| 256 |
+
<parent link="arm_l_link1"/>
|
| 257 |
+
<child link="arm_l_link2"/>
|
| 258 |
+
<origin rpy="0 0 0" xyz="0 0.123 0"/>
|
| 259 |
+
<axis xyz="1 0 0"/>
|
| 260 |
+
<limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
|
| 261 |
+
<dynamics damping="0.1"/>
|
| 262 |
+
</joint>
|
| 263 |
+
<link name="arm_l_link2">
|
| 264 |
+
<visual>
|
| 265 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 266 |
+
<geometry>
|
| 267 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
|
| 268 |
+
</geometry>
|
| 269 |
+
<material name="black">
|
| 270 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 271 |
+
</material>
|
| 272 |
+
</visual>
|
| 273 |
+
<collision>
|
| 274 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 275 |
+
<geometry>
|
| 276 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
|
| 277 |
+
</geometry>
|
| 278 |
+
</collision>
|
| 279 |
+
<inertial>
|
| 280 |
+
<origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
|
| 281 |
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<mass value="2.128261000e+00"/>
|
| 282 |
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<inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
|
| 283 |
+
</inertial>
|
| 284 |
+
</link>
|
| 285 |
+
<joint name="arm_l_joint3" type="revolute">
|
| 286 |
+
<parent link="arm_l_link2"/>
|
| 287 |
+
<child link="arm_l_link3"/>
|
| 288 |
+
<origin rpy="0 0 0" xyz="0 0 -0.165"/>
|
| 289 |
+
<axis xyz="0 0 1"/>
|
| 290 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 291 |
+
<dynamics damping="0.1"/>
|
| 292 |
+
</joint>
|
| 293 |
+
<link name="arm_l_link3">
|
| 294 |
+
<visual>
|
| 295 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 296 |
+
<geometry>
|
| 297 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
|
| 298 |
+
</geometry>
|
| 299 |
+
<material name="black">
|
| 300 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 301 |
+
</material>
|
| 302 |
+
</visual>
|
| 303 |
+
<collision>
|
| 304 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 305 |
+
<geometry>
|
| 306 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
|
| 307 |
+
</geometry>
|
| 308 |
+
</collision>
|
| 309 |
+
<inertial>
|
| 310 |
+
<origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
|
| 311 |
+
<mass value="1.684755100e+00"/>
|
| 312 |
+
<inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
|
| 313 |
+
</inertial>
|
| 314 |
+
</link>
|
| 315 |
+
<joint name="arm_l_joint4" type="revolute">
|
| 316 |
+
<parent link="arm_l_link3"/>
|
| 317 |
+
<child link="arm_l_link4"/>
|
| 318 |
+
<origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
|
| 319 |
+
<axis xyz="0 1 0"/>
|
| 320 |
+
<limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
|
| 321 |
+
<dynamics damping="0.1"/>
|
| 322 |
+
</joint>
|
| 323 |
+
<link name="arm_l_link4">
|
| 324 |
+
<visual>
|
| 325 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 326 |
+
<geometry>
|
| 327 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
|
| 328 |
+
</geometry>
|
| 329 |
+
<material name="black">
|
| 330 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 331 |
+
</material>
|
| 332 |
+
</visual>
|
| 333 |
+
<collision>
|
| 334 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 335 |
+
<geometry>
|
| 336 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
|
| 337 |
+
</geometry>
|
| 338 |
+
</collision>
|
| 339 |
+
<inertial>
|
| 340 |
+
<origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
|
| 341 |
+
<mass value="1.508214400e+00"/>
|
| 342 |
+
<inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
|
| 343 |
+
</inertial>
|
| 344 |
+
</link>
|
| 345 |
+
<joint name="arm_l_joint5" type="revolute">
|
| 346 |
+
<parent link="arm_l_link4"/>
|
| 347 |
+
<child link="arm_l_link5"/>
|
| 348 |
+
<origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
|
| 349 |
+
<axis xyz="0 0 1"/>
|
| 350 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 351 |
+
<dynamics damping="0.1"/>
|
| 352 |
+
</joint>
|
| 353 |
+
<link name="arm_l_link5">
|
| 354 |
+
<visual>
|
| 355 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 356 |
+
<geometry>
|
| 357 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
|
| 358 |
+
</geometry>
|
| 359 |
+
<material name="black">
|
| 360 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 361 |
+
</material>
|
| 362 |
+
</visual>
|
| 363 |
+
<collision>
|
| 364 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 365 |
+
<geometry>
|
| 366 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
|
| 367 |
+
</geometry>
|
| 368 |
+
</collision>
|
| 369 |
+
<inertial>
|
| 370 |
+
<origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
|
| 371 |
+
<mass value="1.391783100e+00"/>
|
| 372 |
+
<inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
|
| 373 |
+
</inertial>
|
| 374 |
+
</link>
|
| 375 |
+
<joint name="arm_l_joint6" type="revolute">
|
| 376 |
+
<parent link="arm_l_link5"/>
|
| 377 |
+
<child link="arm_l_link6"/>
|
| 378 |
+
<origin rpy="0 0 0" xyz="0 0 -0.1041"/>
|
| 379 |
+
<axis xyz="0 1 0"/>
|
| 380 |
+
<limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
|
| 381 |
+
<dynamics damping="0.1"/>
|
| 382 |
+
</joint>
|
| 383 |
+
<link name="arm_l_link6">
|
| 384 |
+
<visual>
|
| 385 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 386 |
+
<geometry>
|
| 387 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
|
| 388 |
+
</geometry>
|
| 389 |
+
<material name="black">
|
| 390 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 391 |
+
</material>
|
| 392 |
+
</visual>
|
| 393 |
+
<collision>
|
| 394 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 395 |
+
<geometry>
|
| 396 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
|
| 397 |
+
</geometry>
|
| 398 |
+
</collision>
|
| 399 |
+
<inertial>
|
| 400 |
+
<origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
|
| 401 |
+
<mass value="6.577074100e-01"/>
|
| 402 |
+
<inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
|
| 403 |
+
</inertial>
|
| 404 |
+
</link>
|
| 405 |
+
<joint name="arm_l_joint7" type="revolute">
|
| 406 |
+
<parent link="arm_l_link6"/>
|
| 407 |
+
<child link="arm_l_link7"/>
|
| 408 |
+
<origin rpy="0 0 0" xyz="0 0 -0.0885"/>
|
| 409 |
+
<axis xyz="1 0 0"/>
|
| 410 |
+
<limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
|
| 411 |
+
<dynamics damping="0.1"/>
|
| 412 |
+
</joint>
|
| 413 |
+
<link name="arm_l_link7">
|
| 414 |
+
<visual>
|
| 415 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 416 |
+
<geometry>
|
| 417 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
|
| 418 |
+
</geometry>
|
| 419 |
+
<material name="black">
|
| 420 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 421 |
+
</material>
|
| 422 |
+
</visual>
|
| 423 |
+
<collision>
|
| 424 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 425 |
+
<geometry>
|
| 426 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
|
| 427 |
+
</geometry>
|
| 428 |
+
</collision>
|
| 429 |
+
<inertial>
|
| 430 |
+
<origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
|
| 431 |
+
<mass value="1.668563000e-01"/>
|
| 432 |
+
<inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
|
| 433 |
+
</inertial>
|
| 434 |
+
</link>
|
| 435 |
+
<!-- camera body, with origin at bottom screw mount -->
|
| 436 |
+
<joint name="camera_l_joint" type="fixed">
|
| 437 |
+
<origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
|
| 438 |
+
<parent link="arm_l_link7"/>
|
| 439 |
+
<child link="camera_l_bottom_screw_frame"/>
|
| 440 |
+
</joint>
|
| 441 |
+
<link name="camera_l_bottom_screw_frame"/>
|
| 442 |
+
<joint name="camera_l_link_joint" type="fixed">
|
| 443 |
+
<origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
|
| 444 |
+
<parent link="camera_l_bottom_screw_frame"/>
|
| 445 |
+
<child link="camera_l_link"/>
|
| 446 |
+
</joint>
|
| 447 |
+
<link name="camera_l_link">
|
| 448 |
+
<visual>
|
| 449 |
+
<!-- the mesh origin is at front plate in between the two infrared camera axes -->
|
| 450 |
+
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
|
| 451 |
+
<geometry>
|
| 452 |
+
<mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
|
| 453 |
+
</geometry>
|
| 454 |
+
<material name="aluminum"/>
|
| 455 |
+
</visual>
|
| 456 |
+
<collision>
|
| 457 |
+
<origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
|
| 458 |
+
<geometry>
|
| 459 |
+
<box size="0.023 0.042 0.042"/>
|
| 460 |
+
</geometry>
|
| 461 |
+
</collision>
|
| 462 |
+
<inertial>
|
| 463 |
+
<!-- The following are not reliable values, and should not be used for modeling -->
|
| 464 |
+
<mass value="0.072"/>
|
| 465 |
+
<origin xyz="0 0 0"/>
|
| 466 |
+
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
|
| 467 |
+
</inertial>
|
| 468 |
+
</link>
|
| 469 |
+
<joint name="arm_r_joint1" type="revolute">
|
| 470 |
+
<parent link="arm_base_link"/>
|
| 471 |
+
<child link="arm_r_link1"/>
|
| 472 |
+
<origin rpy="0 0 0" xyz="0 -0.1045 0"/>
|
| 473 |
+
<axis xyz="0 1 0"/>
|
| 474 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 475 |
+
<dynamics damping="0.1"/>
|
| 476 |
+
</joint>
|
| 477 |
+
<link name="arm_r_link1">
|
| 478 |
+
<visual>
|
| 479 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 480 |
+
<geometry>
|
| 481 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
|
| 482 |
+
</geometry>
|
| 483 |
+
<material name="black">
|
| 484 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 485 |
+
</material>
|
| 486 |
+
</visual>
|
| 487 |
+
<collision>
|
| 488 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 489 |
+
<geometry>
|
| 490 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
|
| 491 |
+
</geometry>
|
| 492 |
+
</collision>
|
| 493 |
+
<inertial>
|
| 494 |
+
<origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
|
| 495 |
+
<mass value="2.001332200e+00"/>
|
| 496 |
+
<inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
|
| 497 |
+
</inertial>
|
| 498 |
+
</link>
|
| 499 |
+
<joint name="arm_r_joint2" type="revolute">
|
| 500 |
+
<parent link="arm_r_link1"/>
|
| 501 |
+
<child link="arm_r_link2"/>
|
| 502 |
+
<origin rpy="0 0 0" xyz="0 -0.123 0"/>
|
| 503 |
+
<axis xyz="1 0 0"/>
|
| 504 |
+
<limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
|
| 505 |
+
<dynamics damping="0.1"/>
|
| 506 |
+
</joint>
|
| 507 |
+
<link name="arm_r_link2">
|
| 508 |
+
<visual>
|
| 509 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 510 |
+
<geometry>
|
| 511 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
|
| 512 |
+
</geometry>
|
| 513 |
+
<material name="black">
|
| 514 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 515 |
+
</material>
|
| 516 |
+
</visual>
|
| 517 |
+
<collision>
|
| 518 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 519 |
+
<geometry>
|
| 520 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
|
| 521 |
+
</geometry>
|
| 522 |
+
</collision>
|
| 523 |
+
<inertial>
|
| 524 |
+
<origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
|
| 525 |
+
<mass value="2.128261000e+00"/>
|
| 526 |
+
<inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
|
| 527 |
+
</inertial>
|
| 528 |
+
</link>
|
| 529 |
+
<joint name="arm_r_joint3" type="revolute">
|
| 530 |
+
<parent link="arm_r_link2"/>
|
| 531 |
+
<child link="arm_r_link3"/>
|
| 532 |
+
<origin rpy="0 0 0" xyz="0 0 -0.165"/>
|
| 533 |
+
<axis xyz="0 0 1"/>
|
| 534 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 535 |
+
<dynamics damping="0.1"/>
|
| 536 |
+
</joint>
|
| 537 |
+
<link name="arm_r_link3">
|
| 538 |
+
<visual>
|
| 539 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 540 |
+
<geometry>
|
| 541 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
|
| 542 |
+
</geometry>
|
| 543 |
+
<material name="black">
|
| 544 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 545 |
+
</material>
|
| 546 |
+
</visual>
|
| 547 |
+
<collision>
|
| 548 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 549 |
+
<geometry>
|
| 550 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
|
| 551 |
+
</geometry>
|
| 552 |
+
</collision>
|
| 553 |
+
<inertial>
|
| 554 |
+
<origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
|
| 555 |
+
<mass value="1.684755100e+00"/>
|
| 556 |
+
<inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
|
| 557 |
+
</inertial>
|
| 558 |
+
</link>
|
| 559 |
+
<joint name="arm_r_joint4" type="revolute">
|
| 560 |
+
<parent link="arm_r_link3"/>
|
| 561 |
+
<child link="arm_r_link4"/>
|
| 562 |
+
<origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
|
| 563 |
+
<axis xyz="0 1 0"/>
|
| 564 |
+
<limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
|
| 565 |
+
<dynamics damping="0.1"/>
|
| 566 |
+
</joint>
|
| 567 |
+
<link name="arm_r_link4">
|
| 568 |
+
<visual>
|
| 569 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 570 |
+
<geometry>
|
| 571 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
|
| 572 |
+
</geometry>
|
| 573 |
+
<material name="black">
|
| 574 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 575 |
+
</material>
|
| 576 |
+
</visual>
|
| 577 |
+
<collision>
|
| 578 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 579 |
+
<geometry>
|
| 580 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
|
| 581 |
+
</geometry>
|
| 582 |
+
</collision>
|
| 583 |
+
<inertial>
|
| 584 |
+
<origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
|
| 585 |
+
<mass value="1.494251100e+00"/>
|
| 586 |
+
<inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
|
| 587 |
+
</inertial>
|
| 588 |
+
</link>
|
| 589 |
+
<joint name="arm_r_joint5" type="revolute">
|
| 590 |
+
<parent link="arm_r_link4"/>
|
| 591 |
+
<child link="arm_r_link5"/>
|
| 592 |
+
<origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
|
| 593 |
+
<axis xyz="0 0 1"/>
|
| 594 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 595 |
+
<dynamics damping="0.1"/>
|
| 596 |
+
</joint>
|
| 597 |
+
<link name="arm_r_link5">
|
| 598 |
+
<visual>
|
| 599 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 600 |
+
<geometry>
|
| 601 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
|
| 602 |
+
</geometry>
|
| 603 |
+
<material name="black">
|
| 604 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 605 |
+
</material>
|
| 606 |
+
</visual>
|
| 607 |
+
<collision>
|
| 608 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 609 |
+
<geometry>
|
| 610 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
|
| 611 |
+
</geometry>
|
| 612 |
+
</collision>
|
| 613 |
+
<inertial>
|
| 614 |
+
<origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
|
| 615 |
+
<mass value="1.391783100e+00"/>
|
| 616 |
+
<inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
|
| 617 |
+
</inertial>
|
| 618 |
+
</link>
|
| 619 |
+
<joint name="arm_r_joint6" type="revolute">
|
| 620 |
+
<parent link="arm_r_link5"/>
|
| 621 |
+
<child link="arm_r_link6"/>
|
| 622 |
+
<origin rpy="0 0 0" xyz="0 0 -0.1041"/>
|
| 623 |
+
<axis xyz="0 1 0"/>
|
| 624 |
+
<limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
|
| 625 |
+
<dynamics damping="0.1"/>
|
| 626 |
+
</joint>
|
| 627 |
+
<link name="arm_r_link6">
|
| 628 |
+
<visual>
|
| 629 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 630 |
+
<geometry>
|
| 631 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
|
| 632 |
+
</geometry>
|
| 633 |
+
<material name="black">
|
| 634 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 635 |
+
</material>
|
| 636 |
+
</visual>
|
| 637 |
+
<collision>
|
| 638 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 639 |
+
<geometry>
|
| 640 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
|
| 641 |
+
</geometry>
|
| 642 |
+
</collision>
|
| 643 |
+
<inertial>
|
| 644 |
+
<origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
|
| 645 |
+
<mass value="6.577074100e-01"/>
|
| 646 |
+
<inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
|
| 647 |
+
</inertial>
|
| 648 |
+
</link>
|
| 649 |
+
<joint name="arm_r_joint7" type="revolute">
|
| 650 |
+
<parent link="arm_r_link6"/>
|
| 651 |
+
<child link="arm_r_link7"/>
|
| 652 |
+
<origin rpy="0 0 0" xyz="0 0 -0.0885"/>
|
| 653 |
+
<axis xyz="1 0 0"/>
|
| 654 |
+
<limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
|
| 655 |
+
<dynamics damping="0.1"/>
|
| 656 |
+
</joint>
|
| 657 |
+
<link name="arm_r_link7">
|
| 658 |
+
<visual>
|
| 659 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 660 |
+
<geometry>
|
| 661 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
|
| 662 |
+
</geometry>
|
| 663 |
+
<material name="black">
|
| 664 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 665 |
+
</material>
|
| 666 |
+
</visual>
|
| 667 |
+
<collision>
|
| 668 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 669 |
+
<geometry>
|
| 670 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
|
| 671 |
+
</geometry>
|
| 672 |
+
</collision>
|
| 673 |
+
<inertial>
|
| 674 |
+
<origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
|
| 675 |
+
<mass value="1.668563000e-01"/>
|
| 676 |
+
<inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
|
| 677 |
+
</inertial>
|
| 678 |
+
</link>
|
| 679 |
+
<!-- camera body, with origin at bottom screw mount -->
|
| 680 |
+
<joint name="camera_r_joint" type="fixed">
|
| 681 |
+
<origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
|
| 682 |
+
<parent link="arm_r_link7"/>
|
| 683 |
+
<child link="camera_r_bottom_screw_frame"/>
|
| 684 |
+
</joint>
|
| 685 |
+
<link name="camera_r_bottom_screw_frame"/>
|
| 686 |
+
<joint name="camera_r_link_joint" type="fixed">
|
| 687 |
+
<origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
|
| 688 |
+
<parent link="camera_r_bottom_screw_frame"/>
|
| 689 |
+
<child link="camera_r_link"/>
|
| 690 |
+
</joint>
|
| 691 |
+
<link name="camera_r_link">
|
| 692 |
+
<visual>
|
| 693 |
+
<!-- the mesh origin is at front plate in between the two infrared camera axes -->
|
| 694 |
+
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
|
| 695 |
+
<geometry>
|
| 696 |
+
<mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
|
| 697 |
+
</geometry>
|
| 698 |
+
<material name="aluminum"/>
|
| 699 |
+
</visual>
|
| 700 |
+
<collision>
|
| 701 |
+
<origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
|
| 702 |
+
<geometry>
|
| 703 |
+
<box size="0.023 0.042 0.042"/>
|
| 704 |
+
</geometry>
|
| 705 |
+
</collision>
|
| 706 |
+
<inertial>
|
| 707 |
+
<!-- The following are not reliable values, and should not be used for modeling -->
|
| 708 |
+
<mass value="0.072"/>
|
| 709 |
+
<origin xyz="0 0 0"/>
|
| 710 |
+
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
|
| 711 |
+
</inertial>
|
| 712 |
+
</link>
|
| 713 |
+
<joint name="gripper_l_joint" type="fixed">
|
| 714 |
+
<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
|
| 715 |
+
<parent link="arm_l_link7"/>
|
| 716 |
+
<child link="gripper_l_rh_p12_rn_base"/>
|
| 717 |
+
</joint>
|
| 718 |
+
<!-- base -->
|
| 719 |
+
<link name="gripper_l_rh_p12_rn_base">
|
| 720 |
+
<collision>
|
| 721 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 722 |
+
<geometry>
|
| 723 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
|
| 724 |
+
</geometry>
|
| 725 |
+
</collision>
|
| 726 |
+
<visual>
|
| 727 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 728 |
+
<geometry>
|
| 729 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
|
| 730 |
+
</geometry>
|
| 731 |
+
<material name="grey">
|
| 732 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 733 |
+
</material>
|
| 734 |
+
</visual>
|
| 735 |
+
<inertial>
|
| 736 |
+
<origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
|
| 737 |
+
<mass value="0.236"/>
|
| 738 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 739 |
+
</inertial>
|
| 740 |
+
</link>
|
| 741 |
+
<!-- Joint -->
|
| 742 |
+
<joint name="gripper_l_joint1" type="revolute">
|
| 743 |
+
<parent link="gripper_l_rh_p12_rn_base"/>
|
| 744 |
+
<child link="gripper_l_rh_p12_rn_r1"/>
|
| 745 |
+
<origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
|
| 746 |
+
<axis xyz="1 0 0"/>
|
| 747 |
+
<limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
|
| 748 |
+
<dynamics damping="0.7"/>
|
| 749 |
+
</joint>
|
| 750 |
+
<!-- rh_p12_rn_r1 -->
|
| 751 |
+
<link name="gripper_l_rh_p12_rn_r1">
|
| 752 |
+
<collision>
|
| 753 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 754 |
+
<geometry>
|
| 755 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
|
| 756 |
+
</geometry>
|
| 757 |
+
</collision>
|
| 758 |
+
<visual>
|
| 759 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 760 |
+
<geometry>
|
| 761 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
|
| 762 |
+
</geometry>
|
| 763 |
+
<material name="grey">
|
| 764 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 765 |
+
</material>
|
| 766 |
+
</visual>
|
| 767 |
+
<inertial>
|
| 768 |
+
<origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
|
| 769 |
+
<mass value="0.068"/>
|
| 770 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 771 |
+
</inertial>
|
| 772 |
+
</link>
|
| 773 |
+
<!-- Right Joint 2 -->
|
| 774 |
+
<joint name="gripper_l_joint2" type="revolute">
|
| 775 |
+
<parent link="gripper_l_rh_p12_rn_r1"/>
|
| 776 |
+
<child link="gripper_l_rh_p12_rn_r2"/>
|
| 777 |
+
<origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
|
| 778 |
+
<axis xyz="-1 0 0"/>
|
| 779 |
+
<limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
|
| 780 |
+
<dynamics damping="0.7"/>
|
| 781 |
+
<mimic joint="gripper_l_joint1" multiplier="1"/>
|
| 782 |
+
</joint>
|
| 783 |
+
<!-- rh_p12_rn_r2 -->
|
| 784 |
+
<link name="gripper_l_rh_p12_rn_r2">
|
| 785 |
+
<collision>
|
| 786 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 787 |
+
<geometry>
|
| 788 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
|
| 789 |
+
</geometry>
|
| 790 |
+
</collision>
|
| 791 |
+
<visual>
|
| 792 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 793 |
+
<geometry>
|
| 794 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
|
| 795 |
+
</geometry>
|
| 796 |
+
<material name="grey">
|
| 797 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 798 |
+
</material>
|
| 799 |
+
</visual>
|
| 800 |
+
<inertial>
|
| 801 |
+
<origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
|
| 802 |
+
<mass value="0.022"/>
|
| 803 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 804 |
+
</inertial>
|
| 805 |
+
</link>
|
| 806 |
+
<!-- Left Joint 1 -->
|
| 807 |
+
<joint name="gripper_l_joint3" type="revolute">
|
| 808 |
+
<parent link="gripper_l_rh_p12_rn_base"/>
|
| 809 |
+
<child link="gripper_l_rh_p12_rn_l1"/>
|
| 810 |
+
<origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
|
| 811 |
+
<axis xyz="-1 0 0"/>
|
| 812 |
+
<limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
|
| 813 |
+
<dynamics damping="0.7"/>
|
| 814 |
+
<mimic joint="gripper_l_joint1" multiplier="1"/>
|
| 815 |
+
</joint>
|
| 816 |
+
<!-- rh_p12_rn_l1 -->
|
| 817 |
+
<link name="gripper_l_rh_p12_rn_l1">
|
| 818 |
+
<collision>
|
| 819 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 820 |
+
<geometry>
|
| 821 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
|
| 822 |
+
</geometry>
|
| 823 |
+
</collision>
|
| 824 |
+
<visual>
|
| 825 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 826 |
+
<geometry>
|
| 827 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
|
| 828 |
+
</geometry>
|
| 829 |
+
<material name="grey">
|
| 830 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 831 |
+
</material>
|
| 832 |
+
</visual>
|
| 833 |
+
<inertial>
|
| 834 |
+
<origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
|
| 835 |
+
<mass value="0.068"/>
|
| 836 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 837 |
+
</inertial>
|
| 838 |
+
</link>
|
| 839 |
+
<!-- Left Joint 2 -->
|
| 840 |
+
<joint name="gripper_l_joint4" type="revolute">
|
| 841 |
+
<parent link="gripper_l_rh_p12_rn_l1"/>
|
| 842 |
+
<child link="gripper_l_rh_p12_rn_l2"/>
|
| 843 |
+
<origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
|
| 844 |
+
<axis xyz="1 0 0"/>
|
| 845 |
+
<limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
|
| 846 |
+
<dynamics damping="0.7"/>
|
| 847 |
+
<mimic joint="gripper_l_joint1" multiplier="1"/>
|
| 848 |
+
</joint>
|
| 849 |
+
<!-- rh_p12_rn_l2 -->
|
| 850 |
+
<link name="gripper_l_rh_p12_rn_l2">
|
| 851 |
+
<collision>
|
| 852 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 853 |
+
<geometry>
|
| 854 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
|
| 855 |
+
</geometry>
|
| 856 |
+
</collision>
|
| 857 |
+
<visual>
|
| 858 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 859 |
+
<geometry>
|
| 860 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
|
| 861 |
+
</geometry>
|
| 862 |
+
<material name="grey">
|
| 863 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 864 |
+
</material>
|
| 865 |
+
</visual>
|
| 866 |
+
<inertial>
|
| 867 |
+
<origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
|
| 868 |
+
<mass value="0.022"/>
|
| 869 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 870 |
+
</inertial>
|
| 871 |
+
</link>
|
| 872 |
+
<joint name="end_effector_l_joint" type="fixed">
|
| 873 |
+
<parent link="arm_l_link7"/>
|
| 874 |
+
<child link="end_effector_l_link"/>
|
| 875 |
+
<origin rpy="0 0 0" xyz="0 0 -0.215"/>
|
| 876 |
+
</joint>
|
| 877 |
+
<link name="end_effector_l_link">
|
| 878 |
+
<visual>
|
| 879 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 880 |
+
<geometry>
|
| 881 |
+
<box size="0.01 0.01 0.01"/>
|
| 882 |
+
</geometry>
|
| 883 |
+
<material name="red">
|
| 884 |
+
<color rgba="1.0 0.0 0.0 1"/>
|
| 885 |
+
</material>
|
| 886 |
+
</visual>
|
| 887 |
+
</link>
|
| 888 |
+
<joint name="gripper_r_joint" type="fixed">
|
| 889 |
+
<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
|
| 890 |
+
<parent link="arm_r_link7"/>
|
| 891 |
+
<child link="gripper_r_rh_p12_rn_base"/>
|
| 892 |
+
</joint>
|
| 893 |
+
<!-- base -->
|
| 894 |
+
<link name="gripper_r_rh_p12_rn_base">
|
| 895 |
+
<collision>
|
| 896 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 897 |
+
<geometry>
|
| 898 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
|
| 899 |
+
</geometry>
|
| 900 |
+
</collision>
|
| 901 |
+
<visual>
|
| 902 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 903 |
+
<geometry>
|
| 904 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
|
| 905 |
+
</geometry>
|
| 906 |
+
<material name="grey">
|
| 907 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 908 |
+
</material>
|
| 909 |
+
</visual>
|
| 910 |
+
<inertial>
|
| 911 |
+
<origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
|
| 912 |
+
<mass value="0.236"/>
|
| 913 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 914 |
+
</inertial>
|
| 915 |
+
</link>
|
| 916 |
+
<!-- Joint -->
|
| 917 |
+
<joint name="gripper_r_joint1" type="revolute">
|
| 918 |
+
<parent link="gripper_r_rh_p12_rn_base"/>
|
| 919 |
+
<child link="gripper_r_rh_p12_rn_r1"/>
|
| 920 |
+
<origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
|
| 921 |
+
<axis xyz="1 0 0"/>
|
| 922 |
+
<limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
|
| 923 |
+
<dynamics damping="0.7"/>
|
| 924 |
+
</joint>
|
| 925 |
+
<!-- rh_p12_rn_r1 -->
|
| 926 |
+
<link name="gripper_r_rh_p12_rn_r1">
|
| 927 |
+
<collision>
|
| 928 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 929 |
+
<geometry>
|
| 930 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
|
| 931 |
+
</geometry>
|
| 932 |
+
</collision>
|
| 933 |
+
<visual>
|
| 934 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 935 |
+
<geometry>
|
| 936 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
|
| 937 |
+
</geometry>
|
| 938 |
+
<material name="grey">
|
| 939 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 940 |
+
</material>
|
| 941 |
+
</visual>
|
| 942 |
+
<inertial>
|
| 943 |
+
<origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
|
| 944 |
+
<mass value="0.068"/>
|
| 945 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 946 |
+
</inertial>
|
| 947 |
+
</link>
|
| 948 |
+
<!-- Right Joint 2 -->
|
| 949 |
+
<joint name="gripper_r_joint2" type="revolute">
|
| 950 |
+
<parent link="gripper_r_rh_p12_rn_r1"/>
|
| 951 |
+
<child link="gripper_r_rh_p12_rn_r2"/>
|
| 952 |
+
<origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
|
| 953 |
+
<axis xyz="-1 0 0"/>
|
| 954 |
+
<limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
|
| 955 |
+
<dynamics damping="0.7"/>
|
| 956 |
+
<mimic joint="gripper_r_joint1" multiplier="1"/>
|
| 957 |
+
</joint>
|
| 958 |
+
<!-- rh_p12_rn_r2 -->
|
| 959 |
+
<link name="gripper_r_rh_p12_rn_r2">
|
| 960 |
+
<collision>
|
| 961 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 962 |
+
<geometry>
|
| 963 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
|
| 964 |
+
</geometry>
|
| 965 |
+
</collision>
|
| 966 |
+
<visual>
|
| 967 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 968 |
+
<geometry>
|
| 969 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
|
| 970 |
+
</geometry>
|
| 971 |
+
<material name="grey">
|
| 972 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 973 |
+
</material>
|
| 974 |
+
</visual>
|
| 975 |
+
<inertial>
|
| 976 |
+
<origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
|
| 977 |
+
<mass value="0.022"/>
|
| 978 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 979 |
+
</inertial>
|
| 980 |
+
</link>
|
| 981 |
+
<!-- Left Joint 1 -->
|
| 982 |
+
<joint name="gripper_r_joint3" type="revolute">
|
| 983 |
+
<parent link="gripper_r_rh_p12_rn_base"/>
|
| 984 |
+
<child link="gripper_r_rh_p12_rn_l1"/>
|
| 985 |
+
<origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
|
| 986 |
+
<axis xyz="-1 0 0"/>
|
| 987 |
+
<limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
|
| 988 |
+
<dynamics damping="0.7"/>
|
| 989 |
+
<mimic joint="gripper_r_joint1" multiplier="1"/>
|
| 990 |
+
</joint>
|
| 991 |
+
<!-- rh_p12_rn_l1 -->
|
| 992 |
+
<link name="gripper_r_rh_p12_rn_l1">
|
| 993 |
+
<collision>
|
| 994 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 995 |
+
<geometry>
|
| 996 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
|
| 997 |
+
</geometry>
|
| 998 |
+
</collision>
|
| 999 |
+
<visual>
|
| 1000 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1001 |
+
<geometry>
|
| 1002 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
|
| 1003 |
+
</geometry>
|
| 1004 |
+
<material name="grey">
|
| 1005 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 1006 |
+
</material>
|
| 1007 |
+
</visual>
|
| 1008 |
+
<inertial>
|
| 1009 |
+
<origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
|
| 1010 |
+
<mass value="0.068"/>
|
| 1011 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 1012 |
+
</inertial>
|
| 1013 |
+
</link>
|
| 1014 |
+
<!-- Left Joint 2 -->
|
| 1015 |
+
<joint name="gripper_r_joint4" type="revolute">
|
| 1016 |
+
<parent link="gripper_r_rh_p12_rn_l1"/>
|
| 1017 |
+
<child link="gripper_r_rh_p12_rn_l2"/>
|
| 1018 |
+
<origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
|
| 1019 |
+
<axis xyz="1 0 0"/>
|
| 1020 |
+
<limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
|
| 1021 |
+
<dynamics damping="0.7"/>
|
| 1022 |
+
<mimic joint="gripper_r_joint1" multiplier="1"/>
|
| 1023 |
+
</joint>
|
| 1024 |
+
<!-- rh_p12_rn_l2 -->
|
| 1025 |
+
<link name="gripper_r_rh_p12_rn_l2">
|
| 1026 |
+
<collision>
|
| 1027 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1028 |
+
<geometry>
|
| 1029 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
|
| 1030 |
+
</geometry>
|
| 1031 |
+
</collision>
|
| 1032 |
+
<visual>
|
| 1033 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1034 |
+
<geometry>
|
| 1035 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
|
| 1036 |
+
</geometry>
|
| 1037 |
+
<material name="grey">
|
| 1038 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 1039 |
+
</material>
|
| 1040 |
+
</visual>
|
| 1041 |
+
<inertial>
|
| 1042 |
+
<origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
|
| 1043 |
+
<mass value="0.022"/>
|
| 1044 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 1045 |
+
</inertial>
|
| 1046 |
+
</link>
|
| 1047 |
+
<joint name="end_effector_r_joint" type="fixed">
|
| 1048 |
+
<parent link="arm_r_link7"/>
|
| 1049 |
+
<child link="end_effector_r_link"/>
|
| 1050 |
+
<origin rpy="0 0 0" xyz="0 0 -0.215"/>
|
| 1051 |
+
</joint>
|
| 1052 |
+
<link name="end_effector_r_link">
|
| 1053 |
+
<visual>
|
| 1054 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1055 |
+
<geometry>
|
| 1056 |
+
<box size="0.01 0.01 0.01"/>
|
| 1057 |
+
</geometry>
|
| 1058 |
+
<material name="red">
|
| 1059 |
+
<color rgba="1.0 0.0 0.0 1"/>
|
| 1060 |
+
</material>
|
| 1061 |
+
</visual>
|
| 1062 |
+
</link>
|
| 1063 |
+
<joint name="left_wheel_steer" type="revolute">
|
| 1064 |
+
<parent link="base_link"/>
|
| 1065 |
+
<child link="left_wheel_steer_link"/>
|
| 1066 |
+
<origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
|
| 1067 |
+
<axis xyz="0 0 1"/>
|
| 1068 |
+
<limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
|
| 1069 |
+
</joint>
|
| 1070 |
+
<link name="left_wheel_steer_link">
|
| 1071 |
+
<visual>
|
| 1072 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1073 |
+
<geometry>
|
| 1074 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1075 |
+
</geometry>
|
| 1076 |
+
<material name="silver">
|
| 1077 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1078 |
+
</material>
|
| 1079 |
+
</visual>
|
| 1080 |
+
<collision>
|
| 1081 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1082 |
+
<geometry>
|
| 1083 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1084 |
+
</geometry>
|
| 1085 |
+
</collision>
|
| 1086 |
+
<inertial>
|
| 1087 |
+
<origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
|
| 1088 |
+
<mass value="7.550951000e-01"/>
|
| 1089 |
+
<inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
|
| 1090 |
+
</inertial>
|
| 1091 |
+
</link>
|
| 1092 |
+
<joint name="left_wheel_drive" type="continuous">
|
| 1093 |
+
<parent link="left_wheel_steer_link"/>
|
| 1094 |
+
<child link="left_wheel_drive_link"/>
|
| 1095 |
+
<origin rpy="0 0 0" xyz="0 0 -0.18905"/>
|
| 1096 |
+
<axis xyz="0 1 0"/>
|
| 1097 |
+
<limit effort="9999.0" velocity="9999.0"/>
|
| 1098 |
+
</joint>
|
| 1099 |
+
<link name="left_wheel_drive_link">
|
| 1100 |
+
<visual>
|
| 1101 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1102 |
+
<geometry>
|
| 1103 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1104 |
+
</geometry>
|
| 1105 |
+
<material name="silver">
|
| 1106 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1107 |
+
</material>
|
| 1108 |
+
</visual>
|
| 1109 |
+
<collision>
|
| 1110 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1111 |
+
<geometry>
|
| 1112 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1113 |
+
</geometry>
|
| 1114 |
+
</collision>
|
| 1115 |
+
<inertial>
|
| 1116 |
+
<origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
|
| 1117 |
+
<mass value="3.795460500e+00"/>
|
| 1118 |
+
<inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
|
| 1119 |
+
</inertial>
|
| 1120 |
+
</link>
|
| 1121 |
+
<joint name="right_wheel_steer" type="revolute">
|
| 1122 |
+
<parent link="base_link"/>
|
| 1123 |
+
<child link="right_wheel_steer_link"/>
|
| 1124 |
+
<origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
|
| 1125 |
+
<axis xyz="0 0 1"/>
|
| 1126 |
+
<limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
|
| 1127 |
+
</joint>
|
| 1128 |
+
<link name="right_wheel_steer_link">
|
| 1129 |
+
<visual>
|
| 1130 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1131 |
+
<geometry>
|
| 1132 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1133 |
+
</geometry>
|
| 1134 |
+
<material name="silver">
|
| 1135 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1136 |
+
</material>
|
| 1137 |
+
</visual>
|
| 1138 |
+
<collision>
|
| 1139 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1140 |
+
<geometry>
|
| 1141 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1142 |
+
</geometry>
|
| 1143 |
+
</collision>
|
| 1144 |
+
<inertial>
|
| 1145 |
+
<origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
|
| 1146 |
+
<mass value="7.550951000e-01"/>
|
| 1147 |
+
<inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
|
| 1148 |
+
</inertial>
|
| 1149 |
+
</link>
|
| 1150 |
+
<joint name="right_wheel_drive" type="continuous">
|
| 1151 |
+
<parent link="right_wheel_steer_link"/>
|
| 1152 |
+
<child link="right_wheel_drive_link"/>
|
| 1153 |
+
<origin rpy="0 0 0" xyz="0 0 -0.18905"/>
|
| 1154 |
+
<axis xyz="0 1 0"/>
|
| 1155 |
+
<limit effort="9999.0" velocity="9999.0"/>
|
| 1156 |
+
</joint>
|
| 1157 |
+
<link name="right_wheel_drive_link">
|
| 1158 |
+
<visual>
|
| 1159 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1160 |
+
<geometry>
|
| 1161 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1162 |
+
</geometry>
|
| 1163 |
+
<material name="silver">
|
| 1164 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1165 |
+
</material>
|
| 1166 |
+
</visual>
|
| 1167 |
+
<collision>
|
| 1168 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1169 |
+
<geometry>
|
| 1170 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1171 |
+
</geometry>
|
| 1172 |
+
</collision>
|
| 1173 |
+
<inertial>
|
| 1174 |
+
<origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
|
| 1175 |
+
<mass value="3.795460500e+00"/>
|
| 1176 |
+
<inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
|
| 1177 |
+
</inertial>
|
| 1178 |
+
</link>
|
| 1179 |
+
<joint name="rear_wheel_steer" type="revolute">
|
| 1180 |
+
<parent link="base_link"/>
|
| 1181 |
+
<child link="rear_wheel_steer_link"/>
|
| 1182 |
+
<origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
|
| 1183 |
+
<axis xyz="0 0 1"/>
|
| 1184 |
+
<limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
|
| 1185 |
+
</joint>
|
| 1186 |
+
<link name="rear_wheel_steer_link">
|
| 1187 |
+
<visual>
|
| 1188 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1189 |
+
<geometry>
|
| 1190 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1191 |
+
</geometry>
|
| 1192 |
+
<material name="silver">
|
| 1193 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1194 |
+
</material>
|
| 1195 |
+
</visual>
|
| 1196 |
+
<collision>
|
| 1197 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1198 |
+
<geometry>
|
| 1199 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1200 |
+
</geometry>
|
| 1201 |
+
</collision>
|
| 1202 |
+
<inertial>
|
| 1203 |
+
<origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
|
| 1204 |
+
<mass value="7.550951000e-01"/>
|
| 1205 |
+
<inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
|
| 1206 |
+
</inertial>
|
| 1207 |
+
</link>
|
| 1208 |
+
<joint name="rear_wheel_drive" type="continuous">
|
| 1209 |
+
<parent link="rear_wheel_steer_link"/>
|
| 1210 |
+
<child link="rear_wheel_drive_link"/>
|
| 1211 |
+
<origin rpy="0 0 0" xyz="0 0 -0.18905"/>
|
| 1212 |
+
<axis xyz="0 1 0"/>
|
| 1213 |
+
<limit effort="9999.0" velocity="9999.0"/>
|
| 1214 |
+
</joint>
|
| 1215 |
+
<link name="rear_wheel_drive_link">
|
| 1216 |
+
<visual>
|
| 1217 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1218 |
+
<geometry>
|
| 1219 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1220 |
+
</geometry>
|
| 1221 |
+
<material name="silver">
|
| 1222 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1223 |
+
</material>
|
| 1224 |
+
</visual>
|
| 1225 |
+
<collision>
|
| 1226 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1227 |
+
<geometry>
|
| 1228 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1229 |
+
</geometry>
|
| 1230 |
+
</collision>
|
| 1231 |
+
<inertial>
|
| 1232 |
+
<origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
|
| 1233 |
+
<mass value="3.795460500e+00"/>
|
| 1234 |
+
<inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
|
| 1235 |
+
</inertial>
|
| 1236 |
+
</link>
|
| 1237 |
+
</robot>
|
15/episode_info.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_instruction": "Move the left plate and the right plate to the center.",
|
| 3 |
+
"task_num": "999999",
|
| 4 |
+
"task_name": "ACT_test_JC",
|
| 5 |
+
"robot_type": "ffw_sg2_rev1",
|
| 6 |
+
"device_serial": "ffw-SNPR48A1107",
|
| 7 |
+
"episode_index": 15,
|
| 8 |
+
"timestamp": "2026-07-03T08:39:00Z",
|
| 9 |
+
"format_version": "robotis_v2",
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"sub_task_instruction": "Move the left plate and the right plate to the center.",
|
| 13 |
+
"frame_duration": [
|
| 14 |
+
0.0,
|
| 15 |
+
13.040377675
|
| 16 |
+
]
|
| 17 |
+
}
|
| 18 |
+
],
|
| 19 |
+
"transcoding_status": "done",
|
| 20 |
+
"video_remux_status": "done",
|
| 21 |
+
"transcoding_cameras_failed": {}
|
| 22 |
+
}
|
15/metadata.yaml
ADDED
|
@@ -0,0 +1,78 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rosbag2_bagfile_information:
|
| 2 |
+
version: 9
|
| 3 |
+
storage_identifier: mcap
|
| 4 |
+
duration:
|
| 5 |
+
nanoseconds: 13040377675
|
| 6 |
+
starting_time:
|
| 7 |
+
nanoseconds_since_epoch: 1783067927779343839
|
| 8 |
+
message_count: 11671
|
| 9 |
+
topics_with_message_count:
|
| 10 |
+
- topic_metadata:
|
| 11 |
+
name: /cmd_vel
|
| 12 |
+
type: geometry_msgs/msg/Twist
|
| 13 |
+
serialization_format: cdr
|
| 14 |
+
offered_qos_profiles: []
|
| 15 |
+
type_description_hash: ''
|
| 16 |
+
message_count: 1304
|
| 17 |
+
- topic_metadata:
|
| 18 |
+
name: /joint_states
|
| 19 |
+
type: sensor_msgs/msg/JointState
|
| 20 |
+
serialization_format: cdr
|
| 21 |
+
offered_qos_profiles: []
|
| 22 |
+
type_description_hash: ''
|
| 23 |
+
message_count: 1304
|
| 24 |
+
- topic_metadata:
|
| 25 |
+
name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
|
| 26 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 27 |
+
serialization_format: cdr
|
| 28 |
+
offered_qos_profiles: []
|
| 29 |
+
type_description_hash: ''
|
| 30 |
+
message_count: 1305
|
| 31 |
+
- topic_metadata:
|
| 32 |
+
name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
|
| 33 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 34 |
+
serialization_format: cdr
|
| 35 |
+
offered_qos_profiles: []
|
| 36 |
+
type_description_hash: ''
|
| 37 |
+
message_count: 1305
|
| 38 |
+
- topic_metadata:
|
| 39 |
+
name: /leader/joystick_controller_left/joint_trajectory
|
| 40 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 41 |
+
serialization_format: cdr
|
| 42 |
+
offered_qos_profiles: []
|
| 43 |
+
type_description_hash: ''
|
| 44 |
+
message_count: 1304
|
| 45 |
+
- topic_metadata:
|
| 46 |
+
name: /leader/joystick_controller_right/joint_trajectory
|
| 47 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 48 |
+
serialization_format: cdr
|
| 49 |
+
offered_qos_profiles: []
|
| 50 |
+
type_description_hash: ''
|
| 51 |
+
message_count: 1304
|
| 52 |
+
- topic_metadata:
|
| 53 |
+
name: /odom
|
| 54 |
+
type: nav_msgs/msg/Odometry
|
| 55 |
+
serialization_format: cdr
|
| 56 |
+
offered_qos_profiles: []
|
| 57 |
+
type_description_hash: ''
|
| 58 |
+
message_count: 1304
|
| 59 |
+
- topic_metadata:
|
| 60 |
+
name: /tf
|
| 61 |
+
type: tf2_msgs/msg/TFMessage
|
| 62 |
+
serialization_format: cdr
|
| 63 |
+
offered_qos_profiles: []
|
| 64 |
+
type_description_hash: ''
|
| 65 |
+
message_count: 2541
|
| 66 |
+
compression_format: ''
|
| 67 |
+
compression_mode: ''
|
| 68 |
+
relative_file_paths:
|
| 69 |
+
- 15_0.mcap
|
| 70 |
+
files:
|
| 71 |
+
- path: 15_0.mcap
|
| 72 |
+
starting_time:
|
| 73 |
+
nanoseconds_since_epoch: 1783067927779343839
|
| 74 |
+
duration:
|
| 75 |
+
nanoseconds: 13040377675
|
| 76 |
+
message_count: 11671
|
| 77 |
+
custom_data: null
|
| 78 |
+
ros_distro: jazzy
|
15/robot.urdf
ADDED
|
@@ -0,0 +1,1237 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
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|
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|
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|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<!-- =================================================================================== -->
|
| 3 |
+
<!-- | This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro | -->
|
| 4 |
+
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
| 5 |
+
<!-- =================================================================================== -->
|
| 6 |
+
<robot name="ffw_sg2_follower">
|
| 7 |
+
<link name="base_link">
|
| 8 |
+
<visual>
|
| 9 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 10 |
+
<geometry>
|
| 11 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
|
| 12 |
+
</geometry>
|
| 13 |
+
<material name="silver">
|
| 14 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 15 |
+
</material>
|
| 16 |
+
</visual>
|
| 17 |
+
<collision>
|
| 18 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 19 |
+
<geometry>
|
| 20 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
|
| 21 |
+
</geometry>
|
| 22 |
+
</collision>
|
| 23 |
+
<inertial>
|
| 24 |
+
<origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
|
| 25 |
+
<mass value="3.598943900e+01"/>
|
| 26 |
+
<inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
|
| 27 |
+
</inertial>
|
| 28 |
+
</link>
|
| 29 |
+
<joint name="lidar_l_joint" type="fixed">
|
| 30 |
+
<parent link="base_link"/>
|
| 31 |
+
<child link="lidar_l_link"/>
|
| 32 |
+
<origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
|
| 33 |
+
</joint>
|
| 34 |
+
<link name="lidar_l_link">
|
| 35 |
+
</link>
|
| 36 |
+
<joint name="lidar_r_joint" type="fixed">
|
| 37 |
+
<parent link="base_link"/>
|
| 38 |
+
<child link="lidar_r_link"/>
|
| 39 |
+
<origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
|
| 40 |
+
</joint>
|
| 41 |
+
<link name="lidar_r_link">
|
| 42 |
+
</link>
|
| 43 |
+
<joint name="imu_joint" type="fixed">
|
| 44 |
+
<parent link="base_link"/>
|
| 45 |
+
<child link="imu_link"/>
|
| 46 |
+
<origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
|
| 47 |
+
</joint>
|
| 48 |
+
<link name="imu_link">
|
| 49 |
+
</link>
|
| 50 |
+
<link name="lift_link">
|
| 51 |
+
<visual>
|
| 52 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 53 |
+
<geometry>
|
| 54 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
|
| 55 |
+
</geometry>
|
| 56 |
+
<material name="silver">
|
| 57 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 58 |
+
</material>
|
| 59 |
+
</visual>
|
| 60 |
+
<collision>
|
| 61 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 62 |
+
<geometry>
|
| 63 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
|
| 64 |
+
</geometry>
|
| 65 |
+
</collision>
|
| 66 |
+
<inertial>
|
| 67 |
+
<origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
|
| 68 |
+
<mass value="1.790000000e+01"/>
|
| 69 |
+
<inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
|
| 70 |
+
</inertial>
|
| 71 |
+
</link>
|
| 72 |
+
<joint name="lift_fixed_joint" type="fixed">
|
| 73 |
+
<parent link="base_link"/>
|
| 74 |
+
<child link="lift_link"/>
|
| 75 |
+
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
| 76 |
+
</joint>
|
| 77 |
+
<material name="aluminum">
|
| 78 |
+
<color rgba="0.5 0.5 0.5 1"/>
|
| 79 |
+
</material>
|
| 80 |
+
<material name="plastic">
|
| 81 |
+
<color rgba="0.1 0.1 0.1 1"/>
|
| 82 |
+
</material>
|
| 83 |
+
<joint name="lift_joint" type="prismatic">
|
| 84 |
+
<parent link="base_link"/>
|
| 85 |
+
<child link="arm_base_link"/>
|
| 86 |
+
<origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
|
| 87 |
+
<axis xyz="0 0 1"/>
|
| 88 |
+
<limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
|
| 89 |
+
<dynamics damping="0.1"/>
|
| 90 |
+
</joint>
|
| 91 |
+
<link name="arm_base_link">
|
| 92 |
+
<visual>
|
| 93 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 94 |
+
<geometry>
|
| 95 |
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<mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
|
| 96 |
+
</geometry>
|
| 97 |
+
<material name="white">
|
| 98 |
+
<color rgba="1 1 1 1"/>
|
| 99 |
+
</material>
|
| 100 |
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</visual>
|
| 101 |
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<collision>
|
| 102 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 103 |
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<geometry>
|
| 104 |
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<mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
|
| 105 |
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</geometry>
|
| 106 |
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</collision>
|
| 107 |
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<inertial>
|
| 108 |
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<origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
|
| 109 |
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<mass value="6.193955900e+00"/>
|
| 110 |
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<inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
|
| 111 |
+
</inertial>
|
| 112 |
+
</link>
|
| 113 |
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<joint name="head_joint1" type="revolute">
|
| 114 |
+
<parent link="arm_base_link"/>
|
| 115 |
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<child link="head_link1"/>
|
| 116 |
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<origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
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| 117 |
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<axis xyz="0 1 0"/>
|
| 118 |
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<limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
|
| 119 |
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<dynamics damping="0.1"/>
|
| 120 |
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</joint>
|
| 121 |
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<link name="head_link1">
|
| 122 |
+
<visual>
|
| 123 |
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<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 124 |
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<geometry>
|
| 125 |
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<mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
|
| 126 |
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</geometry>
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<material name="grey">
|
| 128 |
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| 129 |
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|
| 132 |
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
|
| 135 |
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|
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<origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
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<mass value="1.235180200e-01"/>
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<inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
|
| 141 |
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</inertial>
|
| 142 |
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</link>
|
| 143 |
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<joint name="head_joint2" type="revolute">
|
| 144 |
+
<parent link="head_link1"/>
|
| 145 |
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<child link="head_link2"/>
|
| 146 |
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<origin rpy="0 0 0" xyz="0.040 0 0.054"/>
|
| 147 |
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<axis xyz="0 0 1"/>
|
| 148 |
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<limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
|
| 149 |
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<dynamics damping="0.1"/>
|
| 150 |
+
</joint>
|
| 151 |
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<link name="head_link2">
|
| 152 |
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<visual>
|
| 153 |
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<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 154 |
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<geometry>
|
| 155 |
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<mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
|
| 156 |
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</geometry>
|
| 157 |
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<material name="white">
|
| 158 |
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<color rgba="1 1 1 1"/>
|
| 159 |
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</material>
|
| 160 |
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</visual>
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| 161 |
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<collision>
|
| 162 |
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<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 163 |
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<geometry>
|
| 164 |
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<mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
|
| 165 |
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</geometry>
|
| 166 |
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</collision>
|
| 167 |
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<inertial>
|
| 168 |
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<origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
|
| 169 |
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<mass value="3.254213000e-01"/>
|
| 170 |
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<inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
|
| 171 |
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</inertial>
|
| 172 |
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</link>
|
| 173 |
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<link name="zedm_camera_link"/>
|
| 174 |
+
<link name="zedm_camera_center">
|
| 175 |
+
<visual>
|
| 176 |
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<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 177 |
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<geometry>
|
| 178 |
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<mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
|
| 179 |
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</geometry>
|
| 180 |
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<material name="zedm_mat">
|
| 181 |
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<color rgba="0.25 0.25 0.25 1.0"/>
|
| 182 |
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</material>
|
| 183 |
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</visual>
|
| 184 |
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<collision>
|
| 185 |
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<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 186 |
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<geometry>
|
| 187 |
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<mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
|
| 188 |
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</geometry>
|
| 189 |
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</collision>
|
| 190 |
+
</link>
|
| 191 |
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<joint name="zedm_camera_center_joint" type="fixed">
|
| 192 |
+
<parent link="zedm_camera_link"/>
|
| 193 |
+
<child link="zedm_camera_center"/>
|
| 194 |
+
<origin rpy="0 0 0" xyz="0 0 0.01325"/>
|
| 195 |
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</joint>
|
| 196 |
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<link name="zedm_left_camera_frame"/>
|
| 197 |
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<joint name="zedm_left_camera_joint" type="fixed">
|
| 198 |
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<parent link="zedm_camera_center"/>
|
| 199 |
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<child link="zedm_left_camera_frame"/>
|
| 200 |
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<origin rpy="0 0 0" xyz="0 0.0315 0"/>
|
| 201 |
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</joint>
|
| 202 |
+
<link name="zedm_left_camera_optical_frame"/>
|
| 203 |
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<joint name="zedm_left_camera_optical_joint" type="fixed">
|
| 204 |
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<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
|
| 205 |
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<parent link="zedm_left_camera_frame"/>
|
| 206 |
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<child link="zedm_left_camera_optical_frame"/>
|
| 207 |
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</joint>
|
| 208 |
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<link name="zedm_right_camera_frame"/>
|
| 209 |
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<joint name="zedm_right_camera_joint" type="fixed">
|
| 210 |
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<parent link="zedm_camera_center"/>
|
| 211 |
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<child link="zedm_right_camera_frame"/>
|
| 212 |
+
<origin rpy="0 0 0" xyz="0 -0.0315 0"/>
|
| 213 |
+
</joint>
|
| 214 |
+
<link name="zedm_right_camera_optical_frame"/>
|
| 215 |
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<joint name="zedm_right_camera_optical_joint" type="fixed">
|
| 216 |
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<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
|
| 217 |
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<parent link="zedm_right_camera_frame"/>
|
| 218 |
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<child link="zedm_right_camera_optical_frame"/>
|
| 219 |
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</joint>
|
| 220 |
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<joint name="zedm_joint" type="fixed">
|
| 221 |
+
<parent link="head_link2"/>
|
| 222 |
+
<child link="zedm_camera_link"/>
|
| 223 |
+
<origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
|
| 224 |
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</joint>
|
| 225 |
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<joint name="arm_l_joint1" type="revolute">
|
| 226 |
+
<parent link="arm_base_link"/>
|
| 227 |
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<child link="arm_l_link1"/>
|
| 228 |
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<origin rpy="0 0 0" xyz="0 0.1045 0"/>
|
| 229 |
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<axis xyz="0 1 0"/>
|
| 230 |
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<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 231 |
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<dynamics damping="0.1"/>
|
| 232 |
+
</joint>
|
| 233 |
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<link name="arm_l_link1">
|
| 234 |
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<visual>
|
| 235 |
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<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 236 |
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<geometry>
|
| 237 |
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<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
|
| 238 |
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</geometry>
|
| 239 |
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<material name="black">
|
| 240 |
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<color rgba="0.2 0.2 0.2 1"/>
|
| 241 |
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</material>
|
| 242 |
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</visual>
|
| 243 |
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<collision>
|
| 244 |
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<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 245 |
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<geometry>
|
| 246 |
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<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
|
| 247 |
+
</geometry>
|
| 248 |
+
</collision>
|
| 249 |
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<inertial>
|
| 250 |
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<origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
|
| 251 |
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<mass value="2.001332200e+00"/>
|
| 252 |
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<inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
|
| 253 |
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</inertial>
|
| 254 |
+
</link>
|
| 255 |
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<joint name="arm_l_joint2" type="revolute">
|
| 256 |
+
<parent link="arm_l_link1"/>
|
| 257 |
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<child link="arm_l_link2"/>
|
| 258 |
+
<origin rpy="0 0 0" xyz="0 0.123 0"/>
|
| 259 |
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<axis xyz="1 0 0"/>
|
| 260 |
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<limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
|
| 261 |
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<dynamics damping="0.1"/>
|
| 262 |
+
</joint>
|
| 263 |
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<link name="arm_l_link2">
|
| 264 |
+
<visual>
|
| 265 |
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<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 266 |
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<geometry>
|
| 267 |
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<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
|
| 268 |
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</geometry>
|
| 269 |
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<material name="black">
|
| 270 |
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<color rgba="0.2 0.2 0.2 1"/>
|
| 271 |
+
</material>
|
| 272 |
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</visual>
|
| 273 |
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<collision>
|
| 274 |
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<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 275 |
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<geometry>
|
| 276 |
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<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
|
| 277 |
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</geometry>
|
| 278 |
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</collision>
|
| 279 |
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<inertial>
|
| 280 |
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<origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
|
| 281 |
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<mass value="2.128261000e+00"/>
|
| 282 |
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<inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
|
| 283 |
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</inertial>
|
| 284 |
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</link>
|
| 285 |
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<joint name="arm_l_joint3" type="revolute">
|
| 286 |
+
<parent link="arm_l_link2"/>
|
| 287 |
+
<child link="arm_l_link3"/>
|
| 288 |
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<origin rpy="0 0 0" xyz="0 0 -0.165"/>
|
| 289 |
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<axis xyz="0 0 1"/>
|
| 290 |
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<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 291 |
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<dynamics damping="0.1"/>
|
| 292 |
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</joint>
|
| 293 |
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<link name="arm_l_link3">
|
| 294 |
+
<visual>
|
| 295 |
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<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 296 |
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<geometry>
|
| 297 |
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<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
|
| 298 |
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</geometry>
|
| 299 |
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<material name="black">
|
| 300 |
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<color rgba="0.2 0.2 0.2 1"/>
|
| 301 |
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</material>
|
| 302 |
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</visual>
|
| 303 |
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<collision>
|
| 304 |
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<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 305 |
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<geometry>
|
| 306 |
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<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
|
| 307 |
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</geometry>
|
| 308 |
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</collision>
|
| 309 |
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<inertial>
|
| 310 |
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<origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
|
| 311 |
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<mass value="1.684755100e+00"/>
|
| 312 |
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<inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
|
| 313 |
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</inertial>
|
| 314 |
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</link>
|
| 315 |
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<joint name="arm_l_joint4" type="revolute">
|
| 316 |
+
<parent link="arm_l_link3"/>
|
| 317 |
+
<child link="arm_l_link4"/>
|
| 318 |
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<origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
|
| 319 |
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<axis xyz="0 1 0"/>
|
| 320 |
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<limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
|
| 321 |
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<dynamics damping="0.1"/>
|
| 322 |
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</joint>
|
| 323 |
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<link name="arm_l_link4">
|
| 324 |
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<visual>
|
| 325 |
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<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 326 |
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<geometry>
|
| 327 |
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<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
|
| 328 |
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</geometry>
|
| 329 |
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<material name="black">
|
| 330 |
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<color rgba="0.2 0.2 0.2 1"/>
|
| 331 |
+
</material>
|
| 332 |
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</visual>
|
| 333 |
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<collision>
|
| 334 |
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<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 335 |
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<geometry>
|
| 336 |
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<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
|
| 337 |
+
</geometry>
|
| 338 |
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</collision>
|
| 339 |
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<inertial>
|
| 340 |
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<origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
|
| 341 |
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<mass value="1.508214400e+00"/>
|
| 342 |
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<inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
|
| 343 |
+
</inertial>
|
| 344 |
+
</link>
|
| 345 |
+
<joint name="arm_l_joint5" type="revolute">
|
| 346 |
+
<parent link="arm_l_link4"/>
|
| 347 |
+
<child link="arm_l_link5"/>
|
| 348 |
+
<origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
|
| 349 |
+
<axis xyz="0 0 1"/>
|
| 350 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 351 |
+
<dynamics damping="0.1"/>
|
| 352 |
+
</joint>
|
| 353 |
+
<link name="arm_l_link5">
|
| 354 |
+
<visual>
|
| 355 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 356 |
+
<geometry>
|
| 357 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
|
| 358 |
+
</geometry>
|
| 359 |
+
<material name="black">
|
| 360 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 361 |
+
</material>
|
| 362 |
+
</visual>
|
| 363 |
+
<collision>
|
| 364 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 365 |
+
<geometry>
|
| 366 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
|
| 367 |
+
</geometry>
|
| 368 |
+
</collision>
|
| 369 |
+
<inertial>
|
| 370 |
+
<origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
|
| 371 |
+
<mass value="1.391783100e+00"/>
|
| 372 |
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<inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
|
| 373 |
+
</inertial>
|
| 374 |
+
</link>
|
| 375 |
+
<joint name="arm_l_joint6" type="revolute">
|
| 376 |
+
<parent link="arm_l_link5"/>
|
| 377 |
+
<child link="arm_l_link6"/>
|
| 378 |
+
<origin rpy="0 0 0" xyz="0 0 -0.1041"/>
|
| 379 |
+
<axis xyz="0 1 0"/>
|
| 380 |
+
<limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
|
| 381 |
+
<dynamics damping="0.1"/>
|
| 382 |
+
</joint>
|
| 383 |
+
<link name="arm_l_link6">
|
| 384 |
+
<visual>
|
| 385 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 386 |
+
<geometry>
|
| 387 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
|
| 388 |
+
</geometry>
|
| 389 |
+
<material name="black">
|
| 390 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 391 |
+
</material>
|
| 392 |
+
</visual>
|
| 393 |
+
<collision>
|
| 394 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 395 |
+
<geometry>
|
| 396 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
|
| 397 |
+
</geometry>
|
| 398 |
+
</collision>
|
| 399 |
+
<inertial>
|
| 400 |
+
<origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
|
| 401 |
+
<mass value="6.577074100e-01"/>
|
| 402 |
+
<inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
|
| 403 |
+
</inertial>
|
| 404 |
+
</link>
|
| 405 |
+
<joint name="arm_l_joint7" type="revolute">
|
| 406 |
+
<parent link="arm_l_link6"/>
|
| 407 |
+
<child link="arm_l_link7"/>
|
| 408 |
+
<origin rpy="0 0 0" xyz="0 0 -0.0885"/>
|
| 409 |
+
<axis xyz="1 0 0"/>
|
| 410 |
+
<limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
|
| 411 |
+
<dynamics damping="0.1"/>
|
| 412 |
+
</joint>
|
| 413 |
+
<link name="arm_l_link7">
|
| 414 |
+
<visual>
|
| 415 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 416 |
+
<geometry>
|
| 417 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
|
| 418 |
+
</geometry>
|
| 419 |
+
<material name="black">
|
| 420 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 421 |
+
</material>
|
| 422 |
+
</visual>
|
| 423 |
+
<collision>
|
| 424 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 425 |
+
<geometry>
|
| 426 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
|
| 427 |
+
</geometry>
|
| 428 |
+
</collision>
|
| 429 |
+
<inertial>
|
| 430 |
+
<origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
|
| 431 |
+
<mass value="1.668563000e-01"/>
|
| 432 |
+
<inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
|
| 433 |
+
</inertial>
|
| 434 |
+
</link>
|
| 435 |
+
<!-- camera body, with origin at bottom screw mount -->
|
| 436 |
+
<joint name="camera_l_joint" type="fixed">
|
| 437 |
+
<origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
|
| 438 |
+
<parent link="arm_l_link7"/>
|
| 439 |
+
<child link="camera_l_bottom_screw_frame"/>
|
| 440 |
+
</joint>
|
| 441 |
+
<link name="camera_l_bottom_screw_frame"/>
|
| 442 |
+
<joint name="camera_l_link_joint" type="fixed">
|
| 443 |
+
<origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
|
| 444 |
+
<parent link="camera_l_bottom_screw_frame"/>
|
| 445 |
+
<child link="camera_l_link"/>
|
| 446 |
+
</joint>
|
| 447 |
+
<link name="camera_l_link">
|
| 448 |
+
<visual>
|
| 449 |
+
<!-- the mesh origin is at front plate in between the two infrared camera axes -->
|
| 450 |
+
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
|
| 451 |
+
<geometry>
|
| 452 |
+
<mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
|
| 453 |
+
</geometry>
|
| 454 |
+
<material name="aluminum"/>
|
| 455 |
+
</visual>
|
| 456 |
+
<collision>
|
| 457 |
+
<origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
|
| 458 |
+
<geometry>
|
| 459 |
+
<box size="0.023 0.042 0.042"/>
|
| 460 |
+
</geometry>
|
| 461 |
+
</collision>
|
| 462 |
+
<inertial>
|
| 463 |
+
<!-- The following are not reliable values, and should not be used for modeling -->
|
| 464 |
+
<mass value="0.072"/>
|
| 465 |
+
<origin xyz="0 0 0"/>
|
| 466 |
+
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
|
| 467 |
+
</inertial>
|
| 468 |
+
</link>
|
| 469 |
+
<joint name="arm_r_joint1" type="revolute">
|
| 470 |
+
<parent link="arm_base_link"/>
|
| 471 |
+
<child link="arm_r_link1"/>
|
| 472 |
+
<origin rpy="0 0 0" xyz="0 -0.1045 0"/>
|
| 473 |
+
<axis xyz="0 1 0"/>
|
| 474 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 475 |
+
<dynamics damping="0.1"/>
|
| 476 |
+
</joint>
|
| 477 |
+
<link name="arm_r_link1">
|
| 478 |
+
<visual>
|
| 479 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 480 |
+
<geometry>
|
| 481 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
|
| 482 |
+
</geometry>
|
| 483 |
+
<material name="black">
|
| 484 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 485 |
+
</material>
|
| 486 |
+
</visual>
|
| 487 |
+
<collision>
|
| 488 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 489 |
+
<geometry>
|
| 490 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
|
| 491 |
+
</geometry>
|
| 492 |
+
</collision>
|
| 493 |
+
<inertial>
|
| 494 |
+
<origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
|
| 495 |
+
<mass value="2.001332200e+00"/>
|
| 496 |
+
<inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
|
| 497 |
+
</inertial>
|
| 498 |
+
</link>
|
| 499 |
+
<joint name="arm_r_joint2" type="revolute">
|
| 500 |
+
<parent link="arm_r_link1"/>
|
| 501 |
+
<child link="arm_r_link2"/>
|
| 502 |
+
<origin rpy="0 0 0" xyz="0 -0.123 0"/>
|
| 503 |
+
<axis xyz="1 0 0"/>
|
| 504 |
+
<limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
|
| 505 |
+
<dynamics damping="0.1"/>
|
| 506 |
+
</joint>
|
| 507 |
+
<link name="arm_r_link2">
|
| 508 |
+
<visual>
|
| 509 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 510 |
+
<geometry>
|
| 511 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
|
| 512 |
+
</geometry>
|
| 513 |
+
<material name="black">
|
| 514 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 515 |
+
</material>
|
| 516 |
+
</visual>
|
| 517 |
+
<collision>
|
| 518 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 519 |
+
<geometry>
|
| 520 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
|
| 521 |
+
</geometry>
|
| 522 |
+
</collision>
|
| 523 |
+
<inertial>
|
| 524 |
+
<origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
|
| 525 |
+
<mass value="2.128261000e+00"/>
|
| 526 |
+
<inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
|
| 527 |
+
</inertial>
|
| 528 |
+
</link>
|
| 529 |
+
<joint name="arm_r_joint3" type="revolute">
|
| 530 |
+
<parent link="arm_r_link2"/>
|
| 531 |
+
<child link="arm_r_link3"/>
|
| 532 |
+
<origin rpy="0 0 0" xyz="0 0 -0.165"/>
|
| 533 |
+
<axis xyz="0 0 1"/>
|
| 534 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 535 |
+
<dynamics damping="0.1"/>
|
| 536 |
+
</joint>
|
| 537 |
+
<link name="arm_r_link3">
|
| 538 |
+
<visual>
|
| 539 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 540 |
+
<geometry>
|
| 541 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
|
| 542 |
+
</geometry>
|
| 543 |
+
<material name="black">
|
| 544 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 545 |
+
</material>
|
| 546 |
+
</visual>
|
| 547 |
+
<collision>
|
| 548 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 549 |
+
<geometry>
|
| 550 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
|
| 551 |
+
</geometry>
|
| 552 |
+
</collision>
|
| 553 |
+
<inertial>
|
| 554 |
+
<origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
|
| 555 |
+
<mass value="1.684755100e+00"/>
|
| 556 |
+
<inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
|
| 557 |
+
</inertial>
|
| 558 |
+
</link>
|
| 559 |
+
<joint name="arm_r_joint4" type="revolute">
|
| 560 |
+
<parent link="arm_r_link3"/>
|
| 561 |
+
<child link="arm_r_link4"/>
|
| 562 |
+
<origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
|
| 563 |
+
<axis xyz="0 1 0"/>
|
| 564 |
+
<limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
|
| 565 |
+
<dynamics damping="0.1"/>
|
| 566 |
+
</joint>
|
| 567 |
+
<link name="arm_r_link4">
|
| 568 |
+
<visual>
|
| 569 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 570 |
+
<geometry>
|
| 571 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
|
| 572 |
+
</geometry>
|
| 573 |
+
<material name="black">
|
| 574 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 575 |
+
</material>
|
| 576 |
+
</visual>
|
| 577 |
+
<collision>
|
| 578 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 579 |
+
<geometry>
|
| 580 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
|
| 581 |
+
</geometry>
|
| 582 |
+
</collision>
|
| 583 |
+
<inertial>
|
| 584 |
+
<origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
|
| 585 |
+
<mass value="1.494251100e+00"/>
|
| 586 |
+
<inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
|
| 587 |
+
</inertial>
|
| 588 |
+
</link>
|
| 589 |
+
<joint name="arm_r_joint5" type="revolute">
|
| 590 |
+
<parent link="arm_r_link4"/>
|
| 591 |
+
<child link="arm_r_link5"/>
|
| 592 |
+
<origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
|
| 593 |
+
<axis xyz="0 0 1"/>
|
| 594 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 595 |
+
<dynamics damping="0.1"/>
|
| 596 |
+
</joint>
|
| 597 |
+
<link name="arm_r_link5">
|
| 598 |
+
<visual>
|
| 599 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 600 |
+
<geometry>
|
| 601 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
|
| 602 |
+
</geometry>
|
| 603 |
+
<material name="black">
|
| 604 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 605 |
+
</material>
|
| 606 |
+
</visual>
|
| 607 |
+
<collision>
|
| 608 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 609 |
+
<geometry>
|
| 610 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
|
| 611 |
+
</geometry>
|
| 612 |
+
</collision>
|
| 613 |
+
<inertial>
|
| 614 |
+
<origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
|
| 615 |
+
<mass value="1.391783100e+00"/>
|
| 616 |
+
<inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
|
| 617 |
+
</inertial>
|
| 618 |
+
</link>
|
| 619 |
+
<joint name="arm_r_joint6" type="revolute">
|
| 620 |
+
<parent link="arm_r_link5"/>
|
| 621 |
+
<child link="arm_r_link6"/>
|
| 622 |
+
<origin rpy="0 0 0" xyz="0 0 -0.1041"/>
|
| 623 |
+
<axis xyz="0 1 0"/>
|
| 624 |
+
<limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
|
| 625 |
+
<dynamics damping="0.1"/>
|
| 626 |
+
</joint>
|
| 627 |
+
<link name="arm_r_link6">
|
| 628 |
+
<visual>
|
| 629 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 630 |
+
<geometry>
|
| 631 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
|
| 632 |
+
</geometry>
|
| 633 |
+
<material name="black">
|
| 634 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 635 |
+
</material>
|
| 636 |
+
</visual>
|
| 637 |
+
<collision>
|
| 638 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 639 |
+
<geometry>
|
| 640 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
|
| 641 |
+
</geometry>
|
| 642 |
+
</collision>
|
| 643 |
+
<inertial>
|
| 644 |
+
<origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
|
| 645 |
+
<mass value="6.577074100e-01"/>
|
| 646 |
+
<inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
|
| 647 |
+
</inertial>
|
| 648 |
+
</link>
|
| 649 |
+
<joint name="arm_r_joint7" type="revolute">
|
| 650 |
+
<parent link="arm_r_link6"/>
|
| 651 |
+
<child link="arm_r_link7"/>
|
| 652 |
+
<origin rpy="0 0 0" xyz="0 0 -0.0885"/>
|
| 653 |
+
<axis xyz="1 0 0"/>
|
| 654 |
+
<limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
|
| 655 |
+
<dynamics damping="0.1"/>
|
| 656 |
+
</joint>
|
| 657 |
+
<link name="arm_r_link7">
|
| 658 |
+
<visual>
|
| 659 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 660 |
+
<geometry>
|
| 661 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
|
| 662 |
+
</geometry>
|
| 663 |
+
<material name="black">
|
| 664 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 665 |
+
</material>
|
| 666 |
+
</visual>
|
| 667 |
+
<collision>
|
| 668 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 669 |
+
<geometry>
|
| 670 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
|
| 671 |
+
</geometry>
|
| 672 |
+
</collision>
|
| 673 |
+
<inertial>
|
| 674 |
+
<origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
|
| 675 |
+
<mass value="1.668563000e-01"/>
|
| 676 |
+
<inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
|
| 677 |
+
</inertial>
|
| 678 |
+
</link>
|
| 679 |
+
<!-- camera body, with origin at bottom screw mount -->
|
| 680 |
+
<joint name="camera_r_joint" type="fixed">
|
| 681 |
+
<origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
|
| 682 |
+
<parent link="arm_r_link7"/>
|
| 683 |
+
<child link="camera_r_bottom_screw_frame"/>
|
| 684 |
+
</joint>
|
| 685 |
+
<link name="camera_r_bottom_screw_frame"/>
|
| 686 |
+
<joint name="camera_r_link_joint" type="fixed">
|
| 687 |
+
<origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
|
| 688 |
+
<parent link="camera_r_bottom_screw_frame"/>
|
| 689 |
+
<child link="camera_r_link"/>
|
| 690 |
+
</joint>
|
| 691 |
+
<link name="camera_r_link">
|
| 692 |
+
<visual>
|
| 693 |
+
<!-- the mesh origin is at front plate in between the two infrared camera axes -->
|
| 694 |
+
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
|
| 695 |
+
<geometry>
|
| 696 |
+
<mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
|
| 697 |
+
</geometry>
|
| 698 |
+
<material name="aluminum"/>
|
| 699 |
+
</visual>
|
| 700 |
+
<collision>
|
| 701 |
+
<origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
|
| 702 |
+
<geometry>
|
| 703 |
+
<box size="0.023 0.042 0.042"/>
|
| 704 |
+
</geometry>
|
| 705 |
+
</collision>
|
| 706 |
+
<inertial>
|
| 707 |
+
<!-- The following are not reliable values, and should not be used for modeling -->
|
| 708 |
+
<mass value="0.072"/>
|
| 709 |
+
<origin xyz="0 0 0"/>
|
| 710 |
+
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
|
| 711 |
+
</inertial>
|
| 712 |
+
</link>
|
| 713 |
+
<joint name="gripper_l_joint" type="fixed">
|
| 714 |
+
<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
|
| 715 |
+
<parent link="arm_l_link7"/>
|
| 716 |
+
<child link="gripper_l_rh_p12_rn_base"/>
|
| 717 |
+
</joint>
|
| 718 |
+
<!-- base -->
|
| 719 |
+
<link name="gripper_l_rh_p12_rn_base">
|
| 720 |
+
<collision>
|
| 721 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 722 |
+
<geometry>
|
| 723 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
|
| 724 |
+
</geometry>
|
| 725 |
+
</collision>
|
| 726 |
+
<visual>
|
| 727 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 728 |
+
<geometry>
|
| 729 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
|
| 730 |
+
</geometry>
|
| 731 |
+
<material name="grey">
|
| 732 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 733 |
+
</material>
|
| 734 |
+
</visual>
|
| 735 |
+
<inertial>
|
| 736 |
+
<origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
|
| 737 |
+
<mass value="0.236"/>
|
| 738 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 739 |
+
</inertial>
|
| 740 |
+
</link>
|
| 741 |
+
<!-- Joint -->
|
| 742 |
+
<joint name="gripper_l_joint1" type="revolute">
|
| 743 |
+
<parent link="gripper_l_rh_p12_rn_base"/>
|
| 744 |
+
<child link="gripper_l_rh_p12_rn_r1"/>
|
| 745 |
+
<origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
|
| 746 |
+
<axis xyz="1 0 0"/>
|
| 747 |
+
<limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
|
| 748 |
+
<dynamics damping="0.7"/>
|
| 749 |
+
</joint>
|
| 750 |
+
<!-- rh_p12_rn_r1 -->
|
| 751 |
+
<link name="gripper_l_rh_p12_rn_r1">
|
| 752 |
+
<collision>
|
| 753 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 754 |
+
<geometry>
|
| 755 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
|
| 756 |
+
</geometry>
|
| 757 |
+
</collision>
|
| 758 |
+
<visual>
|
| 759 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 760 |
+
<geometry>
|
| 761 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
|
| 762 |
+
</geometry>
|
| 763 |
+
<material name="grey">
|
| 764 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 765 |
+
</material>
|
| 766 |
+
</visual>
|
| 767 |
+
<inertial>
|
| 768 |
+
<origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
|
| 769 |
+
<mass value="0.068"/>
|
| 770 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 771 |
+
</inertial>
|
| 772 |
+
</link>
|
| 773 |
+
<!-- Right Joint 2 -->
|
| 774 |
+
<joint name="gripper_l_joint2" type="revolute">
|
| 775 |
+
<parent link="gripper_l_rh_p12_rn_r1"/>
|
| 776 |
+
<child link="gripper_l_rh_p12_rn_r2"/>
|
| 777 |
+
<origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
|
| 778 |
+
<axis xyz="-1 0 0"/>
|
| 779 |
+
<limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
|
| 780 |
+
<dynamics damping="0.7"/>
|
| 781 |
+
<mimic joint="gripper_l_joint1" multiplier="1"/>
|
| 782 |
+
</joint>
|
| 783 |
+
<!-- rh_p12_rn_r2 -->
|
| 784 |
+
<link name="gripper_l_rh_p12_rn_r2">
|
| 785 |
+
<collision>
|
| 786 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 787 |
+
<geometry>
|
| 788 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
|
| 789 |
+
</geometry>
|
| 790 |
+
</collision>
|
| 791 |
+
<visual>
|
| 792 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 793 |
+
<geometry>
|
| 794 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
|
| 795 |
+
</geometry>
|
| 796 |
+
<material name="grey">
|
| 797 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 798 |
+
</material>
|
| 799 |
+
</visual>
|
| 800 |
+
<inertial>
|
| 801 |
+
<origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
|
| 802 |
+
<mass value="0.022"/>
|
| 803 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 804 |
+
</inertial>
|
| 805 |
+
</link>
|
| 806 |
+
<!-- Left Joint 1 -->
|
| 807 |
+
<joint name="gripper_l_joint3" type="revolute">
|
| 808 |
+
<parent link="gripper_l_rh_p12_rn_base"/>
|
| 809 |
+
<child link="gripper_l_rh_p12_rn_l1"/>
|
| 810 |
+
<origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
|
| 811 |
+
<axis xyz="-1 0 0"/>
|
| 812 |
+
<limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
|
| 813 |
+
<dynamics damping="0.7"/>
|
| 814 |
+
<mimic joint="gripper_l_joint1" multiplier="1"/>
|
| 815 |
+
</joint>
|
| 816 |
+
<!-- rh_p12_rn_l1 -->
|
| 817 |
+
<link name="gripper_l_rh_p12_rn_l1">
|
| 818 |
+
<collision>
|
| 819 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 820 |
+
<geometry>
|
| 821 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
|
| 822 |
+
</geometry>
|
| 823 |
+
</collision>
|
| 824 |
+
<visual>
|
| 825 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 826 |
+
<geometry>
|
| 827 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
|
| 828 |
+
</geometry>
|
| 829 |
+
<material name="grey">
|
| 830 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 831 |
+
</material>
|
| 832 |
+
</visual>
|
| 833 |
+
<inertial>
|
| 834 |
+
<origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
|
| 835 |
+
<mass value="0.068"/>
|
| 836 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 837 |
+
</inertial>
|
| 838 |
+
</link>
|
| 839 |
+
<!-- Left Joint 2 -->
|
| 840 |
+
<joint name="gripper_l_joint4" type="revolute">
|
| 841 |
+
<parent link="gripper_l_rh_p12_rn_l1"/>
|
| 842 |
+
<child link="gripper_l_rh_p12_rn_l2"/>
|
| 843 |
+
<origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
|
| 844 |
+
<axis xyz="1 0 0"/>
|
| 845 |
+
<limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
|
| 846 |
+
<dynamics damping="0.7"/>
|
| 847 |
+
<mimic joint="gripper_l_joint1" multiplier="1"/>
|
| 848 |
+
</joint>
|
| 849 |
+
<!-- rh_p12_rn_l2 -->
|
| 850 |
+
<link name="gripper_l_rh_p12_rn_l2">
|
| 851 |
+
<collision>
|
| 852 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 853 |
+
<geometry>
|
| 854 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
|
| 855 |
+
</geometry>
|
| 856 |
+
</collision>
|
| 857 |
+
<visual>
|
| 858 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 859 |
+
<geometry>
|
| 860 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
|
| 861 |
+
</geometry>
|
| 862 |
+
<material name="grey">
|
| 863 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 864 |
+
</material>
|
| 865 |
+
</visual>
|
| 866 |
+
<inertial>
|
| 867 |
+
<origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
|
| 868 |
+
<mass value="0.022"/>
|
| 869 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 870 |
+
</inertial>
|
| 871 |
+
</link>
|
| 872 |
+
<joint name="end_effector_l_joint" type="fixed">
|
| 873 |
+
<parent link="arm_l_link7"/>
|
| 874 |
+
<child link="end_effector_l_link"/>
|
| 875 |
+
<origin rpy="0 0 0" xyz="0 0 -0.215"/>
|
| 876 |
+
</joint>
|
| 877 |
+
<link name="end_effector_l_link">
|
| 878 |
+
<visual>
|
| 879 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 880 |
+
<geometry>
|
| 881 |
+
<box size="0.01 0.01 0.01"/>
|
| 882 |
+
</geometry>
|
| 883 |
+
<material name="red">
|
| 884 |
+
<color rgba="1.0 0.0 0.0 1"/>
|
| 885 |
+
</material>
|
| 886 |
+
</visual>
|
| 887 |
+
</link>
|
| 888 |
+
<joint name="gripper_r_joint" type="fixed">
|
| 889 |
+
<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
|
| 890 |
+
<parent link="arm_r_link7"/>
|
| 891 |
+
<child link="gripper_r_rh_p12_rn_base"/>
|
| 892 |
+
</joint>
|
| 893 |
+
<!-- base -->
|
| 894 |
+
<link name="gripper_r_rh_p12_rn_base">
|
| 895 |
+
<collision>
|
| 896 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 897 |
+
<geometry>
|
| 898 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
|
| 899 |
+
</geometry>
|
| 900 |
+
</collision>
|
| 901 |
+
<visual>
|
| 902 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 903 |
+
<geometry>
|
| 904 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
|
| 905 |
+
</geometry>
|
| 906 |
+
<material name="grey">
|
| 907 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 908 |
+
</material>
|
| 909 |
+
</visual>
|
| 910 |
+
<inertial>
|
| 911 |
+
<origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
|
| 912 |
+
<mass value="0.236"/>
|
| 913 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 914 |
+
</inertial>
|
| 915 |
+
</link>
|
| 916 |
+
<!-- Joint -->
|
| 917 |
+
<joint name="gripper_r_joint1" type="revolute">
|
| 918 |
+
<parent link="gripper_r_rh_p12_rn_base"/>
|
| 919 |
+
<child link="gripper_r_rh_p12_rn_r1"/>
|
| 920 |
+
<origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
|
| 921 |
+
<axis xyz="1 0 0"/>
|
| 922 |
+
<limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
|
| 923 |
+
<dynamics damping="0.7"/>
|
| 924 |
+
</joint>
|
| 925 |
+
<!-- rh_p12_rn_r1 -->
|
| 926 |
+
<link name="gripper_r_rh_p12_rn_r1">
|
| 927 |
+
<collision>
|
| 928 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 929 |
+
<geometry>
|
| 930 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
|
| 931 |
+
</geometry>
|
| 932 |
+
</collision>
|
| 933 |
+
<visual>
|
| 934 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 935 |
+
<geometry>
|
| 936 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
|
| 937 |
+
</geometry>
|
| 938 |
+
<material name="grey">
|
| 939 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 940 |
+
</material>
|
| 941 |
+
</visual>
|
| 942 |
+
<inertial>
|
| 943 |
+
<origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
|
| 944 |
+
<mass value="0.068"/>
|
| 945 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 946 |
+
</inertial>
|
| 947 |
+
</link>
|
| 948 |
+
<!-- Right Joint 2 -->
|
| 949 |
+
<joint name="gripper_r_joint2" type="revolute">
|
| 950 |
+
<parent link="gripper_r_rh_p12_rn_r1"/>
|
| 951 |
+
<child link="gripper_r_rh_p12_rn_r2"/>
|
| 952 |
+
<origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
|
| 953 |
+
<axis xyz="-1 0 0"/>
|
| 954 |
+
<limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
|
| 955 |
+
<dynamics damping="0.7"/>
|
| 956 |
+
<mimic joint="gripper_r_joint1" multiplier="1"/>
|
| 957 |
+
</joint>
|
| 958 |
+
<!-- rh_p12_rn_r2 -->
|
| 959 |
+
<link name="gripper_r_rh_p12_rn_r2">
|
| 960 |
+
<collision>
|
| 961 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 962 |
+
<geometry>
|
| 963 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
|
| 964 |
+
</geometry>
|
| 965 |
+
</collision>
|
| 966 |
+
<visual>
|
| 967 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 968 |
+
<geometry>
|
| 969 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
|
| 970 |
+
</geometry>
|
| 971 |
+
<material name="grey">
|
| 972 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 973 |
+
</material>
|
| 974 |
+
</visual>
|
| 975 |
+
<inertial>
|
| 976 |
+
<origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
|
| 977 |
+
<mass value="0.022"/>
|
| 978 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 979 |
+
</inertial>
|
| 980 |
+
</link>
|
| 981 |
+
<!-- Left Joint 1 -->
|
| 982 |
+
<joint name="gripper_r_joint3" type="revolute">
|
| 983 |
+
<parent link="gripper_r_rh_p12_rn_base"/>
|
| 984 |
+
<child link="gripper_r_rh_p12_rn_l1"/>
|
| 985 |
+
<origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
|
| 986 |
+
<axis xyz="-1 0 0"/>
|
| 987 |
+
<limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
|
| 988 |
+
<dynamics damping="0.7"/>
|
| 989 |
+
<mimic joint="gripper_r_joint1" multiplier="1"/>
|
| 990 |
+
</joint>
|
| 991 |
+
<!-- rh_p12_rn_l1 -->
|
| 992 |
+
<link name="gripper_r_rh_p12_rn_l1">
|
| 993 |
+
<collision>
|
| 994 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 995 |
+
<geometry>
|
| 996 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
|
| 997 |
+
</geometry>
|
| 998 |
+
</collision>
|
| 999 |
+
<visual>
|
| 1000 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1001 |
+
<geometry>
|
| 1002 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
|
| 1003 |
+
</geometry>
|
| 1004 |
+
<material name="grey">
|
| 1005 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 1006 |
+
</material>
|
| 1007 |
+
</visual>
|
| 1008 |
+
<inertial>
|
| 1009 |
+
<origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
|
| 1010 |
+
<mass value="0.068"/>
|
| 1011 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 1012 |
+
</inertial>
|
| 1013 |
+
</link>
|
| 1014 |
+
<!-- Left Joint 2 -->
|
| 1015 |
+
<joint name="gripper_r_joint4" type="revolute">
|
| 1016 |
+
<parent link="gripper_r_rh_p12_rn_l1"/>
|
| 1017 |
+
<child link="gripper_r_rh_p12_rn_l2"/>
|
| 1018 |
+
<origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
|
| 1019 |
+
<axis xyz="1 0 0"/>
|
| 1020 |
+
<limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
|
| 1021 |
+
<dynamics damping="0.7"/>
|
| 1022 |
+
<mimic joint="gripper_r_joint1" multiplier="1"/>
|
| 1023 |
+
</joint>
|
| 1024 |
+
<!-- rh_p12_rn_l2 -->
|
| 1025 |
+
<link name="gripper_r_rh_p12_rn_l2">
|
| 1026 |
+
<collision>
|
| 1027 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1028 |
+
<geometry>
|
| 1029 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
|
| 1030 |
+
</geometry>
|
| 1031 |
+
</collision>
|
| 1032 |
+
<visual>
|
| 1033 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1034 |
+
<geometry>
|
| 1035 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
|
| 1036 |
+
</geometry>
|
| 1037 |
+
<material name="grey">
|
| 1038 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 1039 |
+
</material>
|
| 1040 |
+
</visual>
|
| 1041 |
+
<inertial>
|
| 1042 |
+
<origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
|
| 1043 |
+
<mass value="0.022"/>
|
| 1044 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 1045 |
+
</inertial>
|
| 1046 |
+
</link>
|
| 1047 |
+
<joint name="end_effector_r_joint" type="fixed">
|
| 1048 |
+
<parent link="arm_r_link7"/>
|
| 1049 |
+
<child link="end_effector_r_link"/>
|
| 1050 |
+
<origin rpy="0 0 0" xyz="0 0 -0.215"/>
|
| 1051 |
+
</joint>
|
| 1052 |
+
<link name="end_effector_r_link">
|
| 1053 |
+
<visual>
|
| 1054 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1055 |
+
<geometry>
|
| 1056 |
+
<box size="0.01 0.01 0.01"/>
|
| 1057 |
+
</geometry>
|
| 1058 |
+
<material name="red">
|
| 1059 |
+
<color rgba="1.0 0.0 0.0 1"/>
|
| 1060 |
+
</material>
|
| 1061 |
+
</visual>
|
| 1062 |
+
</link>
|
| 1063 |
+
<joint name="left_wheel_steer" type="revolute">
|
| 1064 |
+
<parent link="base_link"/>
|
| 1065 |
+
<child link="left_wheel_steer_link"/>
|
| 1066 |
+
<origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
|
| 1067 |
+
<axis xyz="0 0 1"/>
|
| 1068 |
+
<limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
|
| 1069 |
+
</joint>
|
| 1070 |
+
<link name="left_wheel_steer_link">
|
| 1071 |
+
<visual>
|
| 1072 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1073 |
+
<geometry>
|
| 1074 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1075 |
+
</geometry>
|
| 1076 |
+
<material name="silver">
|
| 1077 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1078 |
+
</material>
|
| 1079 |
+
</visual>
|
| 1080 |
+
<collision>
|
| 1081 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1082 |
+
<geometry>
|
| 1083 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1084 |
+
</geometry>
|
| 1085 |
+
</collision>
|
| 1086 |
+
<inertial>
|
| 1087 |
+
<origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
|
| 1088 |
+
<mass value="7.550951000e-01"/>
|
| 1089 |
+
<inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
|
| 1090 |
+
</inertial>
|
| 1091 |
+
</link>
|
| 1092 |
+
<joint name="left_wheel_drive" type="continuous">
|
| 1093 |
+
<parent link="left_wheel_steer_link"/>
|
| 1094 |
+
<child link="left_wheel_drive_link"/>
|
| 1095 |
+
<origin rpy="0 0 0" xyz="0 0 -0.18905"/>
|
| 1096 |
+
<axis xyz="0 1 0"/>
|
| 1097 |
+
<limit effort="9999.0" velocity="9999.0"/>
|
| 1098 |
+
</joint>
|
| 1099 |
+
<link name="left_wheel_drive_link">
|
| 1100 |
+
<visual>
|
| 1101 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1102 |
+
<geometry>
|
| 1103 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1104 |
+
</geometry>
|
| 1105 |
+
<material name="silver">
|
| 1106 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1107 |
+
</material>
|
| 1108 |
+
</visual>
|
| 1109 |
+
<collision>
|
| 1110 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1111 |
+
<geometry>
|
| 1112 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1113 |
+
</geometry>
|
| 1114 |
+
</collision>
|
| 1115 |
+
<inertial>
|
| 1116 |
+
<origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
|
| 1117 |
+
<mass value="3.795460500e+00"/>
|
| 1118 |
+
<inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
|
| 1119 |
+
</inertial>
|
| 1120 |
+
</link>
|
| 1121 |
+
<joint name="right_wheel_steer" type="revolute">
|
| 1122 |
+
<parent link="base_link"/>
|
| 1123 |
+
<child link="right_wheel_steer_link"/>
|
| 1124 |
+
<origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
|
| 1125 |
+
<axis xyz="0 0 1"/>
|
| 1126 |
+
<limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
|
| 1127 |
+
</joint>
|
| 1128 |
+
<link name="right_wheel_steer_link">
|
| 1129 |
+
<visual>
|
| 1130 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1131 |
+
<geometry>
|
| 1132 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1133 |
+
</geometry>
|
| 1134 |
+
<material name="silver">
|
| 1135 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1136 |
+
</material>
|
| 1137 |
+
</visual>
|
| 1138 |
+
<collision>
|
| 1139 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1140 |
+
<geometry>
|
| 1141 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1142 |
+
</geometry>
|
| 1143 |
+
</collision>
|
| 1144 |
+
<inertial>
|
| 1145 |
+
<origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
|
| 1146 |
+
<mass value="7.550951000e-01"/>
|
| 1147 |
+
<inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
|
| 1148 |
+
</inertial>
|
| 1149 |
+
</link>
|
| 1150 |
+
<joint name="right_wheel_drive" type="continuous">
|
| 1151 |
+
<parent link="right_wheel_steer_link"/>
|
| 1152 |
+
<child link="right_wheel_drive_link"/>
|
| 1153 |
+
<origin rpy="0 0 0" xyz="0 0 -0.18905"/>
|
| 1154 |
+
<axis xyz="0 1 0"/>
|
| 1155 |
+
<limit effort="9999.0" velocity="9999.0"/>
|
| 1156 |
+
</joint>
|
| 1157 |
+
<link name="right_wheel_drive_link">
|
| 1158 |
+
<visual>
|
| 1159 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1160 |
+
<geometry>
|
| 1161 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1162 |
+
</geometry>
|
| 1163 |
+
<material name="silver">
|
| 1164 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1165 |
+
</material>
|
| 1166 |
+
</visual>
|
| 1167 |
+
<collision>
|
| 1168 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1169 |
+
<geometry>
|
| 1170 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1171 |
+
</geometry>
|
| 1172 |
+
</collision>
|
| 1173 |
+
<inertial>
|
| 1174 |
+
<origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
|
| 1175 |
+
<mass value="3.795460500e+00"/>
|
| 1176 |
+
<inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
|
| 1177 |
+
</inertial>
|
| 1178 |
+
</link>
|
| 1179 |
+
<joint name="rear_wheel_steer" type="revolute">
|
| 1180 |
+
<parent link="base_link"/>
|
| 1181 |
+
<child link="rear_wheel_steer_link"/>
|
| 1182 |
+
<origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
|
| 1183 |
+
<axis xyz="0 0 1"/>
|
| 1184 |
+
<limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
|
| 1185 |
+
</joint>
|
| 1186 |
+
<link name="rear_wheel_steer_link">
|
| 1187 |
+
<visual>
|
| 1188 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1189 |
+
<geometry>
|
| 1190 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1191 |
+
</geometry>
|
| 1192 |
+
<material name="silver">
|
| 1193 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1194 |
+
</material>
|
| 1195 |
+
</visual>
|
| 1196 |
+
<collision>
|
| 1197 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1198 |
+
<geometry>
|
| 1199 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1200 |
+
</geometry>
|
| 1201 |
+
</collision>
|
| 1202 |
+
<inertial>
|
| 1203 |
+
<origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
|
| 1204 |
+
<mass value="7.550951000e-01"/>
|
| 1205 |
+
<inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
|
| 1206 |
+
</inertial>
|
| 1207 |
+
</link>
|
| 1208 |
+
<joint name="rear_wheel_drive" type="continuous">
|
| 1209 |
+
<parent link="rear_wheel_steer_link"/>
|
| 1210 |
+
<child link="rear_wheel_drive_link"/>
|
| 1211 |
+
<origin rpy="0 0 0" xyz="0 0 -0.18905"/>
|
| 1212 |
+
<axis xyz="0 1 0"/>
|
| 1213 |
+
<limit effort="9999.0" velocity="9999.0"/>
|
| 1214 |
+
</joint>
|
| 1215 |
+
<link name="rear_wheel_drive_link">
|
| 1216 |
+
<visual>
|
| 1217 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1218 |
+
<geometry>
|
| 1219 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1220 |
+
</geometry>
|
| 1221 |
+
<material name="silver">
|
| 1222 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1223 |
+
</material>
|
| 1224 |
+
</visual>
|
| 1225 |
+
<collision>
|
| 1226 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1227 |
+
<geometry>
|
| 1228 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1229 |
+
</geometry>
|
| 1230 |
+
</collision>
|
| 1231 |
+
<inertial>
|
| 1232 |
+
<origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
|
| 1233 |
+
<mass value="3.795460500e+00"/>
|
| 1234 |
+
<inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
|
| 1235 |
+
</inertial>
|
| 1236 |
+
</link>
|
| 1237 |
+
</robot>
|
17/camera_info/cam_left_head.yaml
ADDED
|
@@ -0,0 +1,55 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
header:
|
| 2 |
+
frame_id: zed_left_camera_optical_frame
|
| 3 |
+
stamp:
|
| 4 |
+
sec: 1783067985
|
| 5 |
+
nanosec: 441420484
|
| 6 |
+
height: 720
|
| 7 |
+
width: 1280
|
| 8 |
+
distortion_model: plumb_bob
|
| 9 |
+
d:
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
- 0.0
|
| 13 |
+
- 0.0
|
| 14 |
+
- 0.0
|
| 15 |
+
k:
|
| 16 |
+
- 735.4571533203125
|
| 17 |
+
- 0.0
|
| 18 |
+
- 625.3748779296875
|
| 19 |
+
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|
| 20 |
+
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|
| 21 |
+
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|
| 22 |
+
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|
| 23 |
+
- 0.0
|
| 24 |
+
- 1.0
|
| 25 |
+
r:
|
| 26 |
+
- 1.0
|
| 27 |
+
- 0.0
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.0
|
| 30 |
+
- 1.0
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
p:
|
| 36 |
+
- 735.4571533203125
|
| 37 |
+
- 0.0
|
| 38 |
+
- 625.3748779296875
|
| 39 |
+
- 0.0
|
| 40 |
+
- 0.0
|
| 41 |
+
- 735.4571533203125
|
| 42 |
+
- 361.1747131347656
|
| 43 |
+
- 0.0
|
| 44 |
+
- 0.0
|
| 45 |
+
- 0.0
|
| 46 |
+
- 1.0
|
| 47 |
+
- 0.0
|
| 48 |
+
binning_x: 0
|
| 49 |
+
binning_y: 0
|
| 50 |
+
roi:
|
| 51 |
+
x_offset: 0
|
| 52 |
+
y_offset: 0
|
| 53 |
+
height: 0
|
| 54 |
+
width: 0
|
| 55 |
+
do_rectify: false
|
17/camera_info/cam_left_wrist.yaml
ADDED
|
@@ -0,0 +1,55 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
header:
|
| 2 |
+
frame_id: camera_left_color_optical_frame
|
| 3 |
+
stamp:
|
| 4 |
+
sec: 1783067985
|
| 5 |
+
nanosec: 436174316
|
| 6 |
+
height: 480
|
| 7 |
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width: 640
|
| 8 |
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distortion_model: plumb_bob
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| 9 |
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| 36 |
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binning_y: 0
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roi:
|
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x_offset: 0
|
| 52 |
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y_offset: 0
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| 53 |
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height: 0
|
| 54 |
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width: 0
|
| 55 |
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do_rectify: false
|
17/camera_info/cam_right_head.yaml
ADDED
|
@@ -0,0 +1,55 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
header:
|
| 2 |
+
frame_id: zed_right_camera_optical_frame
|
| 3 |
+
stamp:
|
| 4 |
+
sec: 1783067985
|
| 5 |
+
nanosec: 441420484
|
| 6 |
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height: 720
|
| 7 |
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width: 1280
|
| 8 |
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distortion_model: plumb_bob
|
| 9 |
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| 10 |
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| 36 |
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| 48 |
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binning_x: 0
|
| 49 |
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binning_y: 0
|
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roi:
|
| 51 |
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x_offset: 0
|
| 52 |
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y_offset: 0
|
| 53 |
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height: 0
|
| 54 |
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width: 0
|
| 55 |
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do_rectify: false
|
17/camera_info/cam_right_wrist.yaml
ADDED
|
@@ -0,0 +1,55 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
| 1 |
+
header:
|
| 2 |
+
frame_id: camera_right_color_optical_frame
|
| 3 |
+
stamp:
|
| 4 |
+
sec: 1783067985
|
| 5 |
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nanosec: 419513428
|
| 6 |
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height: 480
|
| 7 |
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width: 640
|
| 8 |
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distortion_model: plumb_bob
|
| 9 |
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d:
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| 10 |
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binning_x: 0
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| 49 |
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binning_y: 0
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| 50 |
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roi:
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x_offset: 0
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| 52 |
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height: 0
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width: 0
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| 55 |
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do_rectify: false
|
17/camera_info/camera_metadata.yaml
ADDED
|
@@ -0,0 +1,23 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
format_version: robotis_camera_metadata_v1
|
| 2 |
+
source: robot_config
|
| 3 |
+
cameras:
|
| 4 |
+
cam_left_head:
|
| 5 |
+
rotation_deg: 0
|
| 6 |
+
rotation_applied_at: record
|
| 7 |
+
image_topic: /zed/zed_node/left/image_rect_color/compressed
|
| 8 |
+
camera_info_topic: /zed/zed_node/left/camera_info
|
| 9 |
+
cam_left_wrist:
|
| 10 |
+
rotation_deg: 270
|
| 11 |
+
rotation_applied_at: record
|
| 12 |
+
image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
|
| 13 |
+
camera_info_topic: /camera_left/camera_left/color/camera_info
|
| 14 |
+
cam_right_head:
|
| 15 |
+
rotation_deg: 0
|
| 16 |
+
rotation_applied_at: record
|
| 17 |
+
image_topic: /zed/zed_node/right/image_rect_color/compressed
|
| 18 |
+
camera_info_topic: /zed/zed_node/right/camera_info
|
| 19 |
+
cam_right_wrist:
|
| 20 |
+
rotation_deg: 270
|
| 21 |
+
rotation_applied_at: record
|
| 22 |
+
image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
|
| 23 |
+
camera_info_topic: /camera_right/camera_right/color/camera_info
|
17/videos/17_0/cam_left_head_recorder_stats.json
ADDED
|
@@ -0,0 +1,43 @@
|
|
|
|
|
|
|
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| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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| 8 |
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| 9 |
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| 10 |
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|
| 11 |
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"frames_written": 206,
|
| 12 |
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|
| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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"max_raw_queue_items": 1,
|
| 22 |
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"max_raw_write_ns": 8913939,
|
| 23 |
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"metadata_error": null,
|
| 24 |
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"mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_left_head.mp4",
|
| 25 |
+
"name": "cam_left_head",
|
| 26 |
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"pressure_warning_count": 0,
|
| 27 |
+
"raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_left_head.mjpeg.tmp",
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| 28 |
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| 29 |
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| 30 |
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|
| 31 |
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"remux_error": null,
|
| 32 |
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"remux_status": "done",
|
| 33 |
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"sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_left_head_timestamps.parquet",
|
| 34 |
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"soft_callback_queue_bytes": 134217728,
|
| 35 |
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|
| 36 |
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| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"timestamp_warning_count": 0,
|
| 42 |
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"topic": "/zed/zed_node/left/image_rect_color/compressed"
|
| 43 |
+
}
|
17/videos/17_0/cam_left_wrist_recorder_stats.json
ADDED
|
@@ -0,0 +1,43 @@
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| 1 |
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{
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| 2 |
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|
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|
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|
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|
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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"metadata_error": null,
|
| 24 |
+
"mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_left_wrist.mp4",
|
| 25 |
+
"name": "cam_left_wrist",
|
| 26 |
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| 27 |
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|
| 28 |
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|
| 29 |
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| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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"sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_left_wrist_timestamps.parquet",
|
| 34 |
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| 35 |
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| 36 |
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| 42 |
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|
| 43 |
+
}
|
17/videos/17_0/cam_right_head_recorder_stats.json
ADDED
|
@@ -0,0 +1,43 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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| 19 |
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| 22 |
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|
| 23 |
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|
| 24 |
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"mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_right_head.mp4",
|
| 25 |
+
"name": "cam_right_head",
|
| 26 |
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|
| 27 |
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"raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_right_head.mjpeg.tmp",
|
| 28 |
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| 29 |
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| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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"sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_right_head_timestamps.parquet",
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
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| 38 |
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|
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|
| 41 |
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|
| 42 |
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"topic": "/zed/zed_node/right/image_rect_color/compressed"
|
| 43 |
+
}
|
17/videos/17_0/cam_right_wrist_recorder_stats.json
ADDED
|
@@ -0,0 +1,43 @@
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
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{
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|
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| 19 |
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|
| 23 |
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|
| 24 |
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"mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_right_wrist.mp4",
|
| 25 |
+
"name": "cam_right_wrist",
|
| 26 |
+
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|
| 27 |
+
"raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_right_wrist.mjpeg.tmp",
|
| 28 |
+
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|
| 29 |
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|
| 30 |
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|
| 31 |
+
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|
| 32 |
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"remux_status": "done",
|
| 33 |
+
"sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/17/segments/0/videos/cam_right_wrist_timestamps.parquet",
|
| 34 |
+
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 40 |
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|
| 41 |
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"timestamp_warning_count": 0,
|
| 42 |
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"topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
|
| 43 |
+
}
|
19/episode_info.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_instruction": "Move the left plate and the right plate to the center.",
|
| 3 |
+
"task_num": "999999",
|
| 4 |
+
"task_name": "ACT_test_JC",
|
| 5 |
+
"robot_type": "ffw_sg2_rev1",
|
| 6 |
+
"device_serial": "ffw-SNPR48A1107",
|
| 7 |
+
"episode_index": 19,
|
| 8 |
+
"timestamp": "2026-07-03T08:40:27Z",
|
| 9 |
+
"format_version": "robotis_v2",
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"sub_task_instruction": "Move the left plate and the right plate to the center.",
|
| 13 |
+
"frame_duration": [
|
| 14 |
+
0.0,
|
| 15 |
+
13.745051387
|
| 16 |
+
]
|
| 17 |
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}
|
| 18 |
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],
|
| 19 |
+
"transcoding_status": "done",
|
| 20 |
+
"video_remux_status": "done",
|
| 21 |
+
"transcoding_cameras_failed": {}
|
| 22 |
+
}
|
19/metadata.yaml
ADDED
|
@@ -0,0 +1,78 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rosbag2_bagfile_information:
|
| 2 |
+
version: 9
|
| 3 |
+
storage_identifier: mcap
|
| 4 |
+
duration:
|
| 5 |
+
nanoseconds: 13745051387
|
| 6 |
+
starting_time:
|
| 7 |
+
nanoseconds_since_epoch: 1783068013585179169
|
| 8 |
+
message_count: 12310
|
| 9 |
+
topics_with_message_count:
|
| 10 |
+
- topic_metadata:
|
| 11 |
+
name: /cmd_vel
|
| 12 |
+
type: geometry_msgs/msg/Twist
|
| 13 |
+
serialization_format: cdr
|
| 14 |
+
offered_qos_profiles: []
|
| 15 |
+
type_description_hash: ''
|
| 16 |
+
message_count: 1375
|
| 17 |
+
- topic_metadata:
|
| 18 |
+
name: /joint_states
|
| 19 |
+
type: sensor_msgs/msg/JointState
|
| 20 |
+
serialization_format: cdr
|
| 21 |
+
offered_qos_profiles: []
|
| 22 |
+
type_description_hash: ''
|
| 23 |
+
message_count: 1375
|
| 24 |
+
- topic_metadata:
|
| 25 |
+
name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
|
| 26 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 27 |
+
serialization_format: cdr
|
| 28 |
+
offered_qos_profiles: []
|
| 29 |
+
type_description_hash: ''
|
| 30 |
+
message_count: 1374
|
| 31 |
+
- topic_metadata:
|
| 32 |
+
name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
|
| 33 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 34 |
+
serialization_format: cdr
|
| 35 |
+
offered_qos_profiles: []
|
| 36 |
+
type_description_hash: ''
|
| 37 |
+
message_count: 1375
|
| 38 |
+
- topic_metadata:
|
| 39 |
+
name: /leader/joystick_controller_left/joint_trajectory
|
| 40 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 41 |
+
serialization_format: cdr
|
| 42 |
+
offered_qos_profiles: []
|
| 43 |
+
type_description_hash: ''
|
| 44 |
+
message_count: 1375
|
| 45 |
+
- topic_metadata:
|
| 46 |
+
name: /leader/joystick_controller_right/joint_trajectory
|
| 47 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 48 |
+
serialization_format: cdr
|
| 49 |
+
offered_qos_profiles: []
|
| 50 |
+
type_description_hash: ''
|
| 51 |
+
message_count: 1375
|
| 52 |
+
- topic_metadata:
|
| 53 |
+
name: /odom
|
| 54 |
+
type: nav_msgs/msg/Odometry
|
| 55 |
+
serialization_format: cdr
|
| 56 |
+
offered_qos_profiles: []
|
| 57 |
+
type_description_hash: ''
|
| 58 |
+
message_count: 1375
|
| 59 |
+
- topic_metadata:
|
| 60 |
+
name: /tf
|
| 61 |
+
type: tf2_msgs/msg/TFMessage
|
| 62 |
+
serialization_format: cdr
|
| 63 |
+
offered_qos_profiles: []
|
| 64 |
+
type_description_hash: ''
|
| 65 |
+
message_count: 2686
|
| 66 |
+
compression_format: ''
|
| 67 |
+
compression_mode: ''
|
| 68 |
+
relative_file_paths:
|
| 69 |
+
- 19_0.mcap
|
| 70 |
+
files:
|
| 71 |
+
- path: 19_0.mcap
|
| 72 |
+
starting_time:
|
| 73 |
+
nanoseconds_since_epoch: 1783068013585179169
|
| 74 |
+
duration:
|
| 75 |
+
nanoseconds: 13745051387
|
| 76 |
+
message_count: 12310
|
| 77 |
+
custom_data: null
|
| 78 |
+
ros_distro: jazzy
|
19/robot.urdf
ADDED
|
@@ -0,0 +1,1237 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<!-- =================================================================================== -->
|
| 3 |
+
<!-- | This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro | -->
|
| 4 |
+
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
| 5 |
+
<!-- =================================================================================== -->
|
| 6 |
+
<robot name="ffw_sg2_follower">
|
| 7 |
+
<link name="base_link">
|
| 8 |
+
<visual>
|
| 9 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 10 |
+
<geometry>
|
| 11 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
|
| 12 |
+
</geometry>
|
| 13 |
+
<material name="silver">
|
| 14 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 15 |
+
</material>
|
| 16 |
+
</visual>
|
| 17 |
+
<collision>
|
| 18 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 19 |
+
<geometry>
|
| 20 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
|
| 21 |
+
</geometry>
|
| 22 |
+
</collision>
|
| 23 |
+
<inertial>
|
| 24 |
+
<origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
|
| 25 |
+
<mass value="3.598943900e+01"/>
|
| 26 |
+
<inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
|
| 27 |
+
</inertial>
|
| 28 |
+
</link>
|
| 29 |
+
<joint name="lidar_l_joint" type="fixed">
|
| 30 |
+
<parent link="base_link"/>
|
| 31 |
+
<child link="lidar_l_link"/>
|
| 32 |
+
<origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
|
| 33 |
+
</joint>
|
| 34 |
+
<link name="lidar_l_link">
|
| 35 |
+
</link>
|
| 36 |
+
<joint name="lidar_r_joint" type="fixed">
|
| 37 |
+
<parent link="base_link"/>
|
| 38 |
+
<child link="lidar_r_link"/>
|
| 39 |
+
<origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
|
| 40 |
+
</joint>
|
| 41 |
+
<link name="lidar_r_link">
|
| 42 |
+
</link>
|
| 43 |
+
<joint name="imu_joint" type="fixed">
|
| 44 |
+
<parent link="base_link"/>
|
| 45 |
+
<child link="imu_link"/>
|
| 46 |
+
<origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
|
| 47 |
+
</joint>
|
| 48 |
+
<link name="imu_link">
|
| 49 |
+
</link>
|
| 50 |
+
<link name="lift_link">
|
| 51 |
+
<visual>
|
| 52 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 53 |
+
<geometry>
|
| 54 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
|
| 55 |
+
</geometry>
|
| 56 |
+
<material name="silver">
|
| 57 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 58 |
+
</material>
|
| 59 |
+
</visual>
|
| 60 |
+
<collision>
|
| 61 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 62 |
+
<geometry>
|
| 63 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
|
| 64 |
+
</geometry>
|
| 65 |
+
</collision>
|
| 66 |
+
<inertial>
|
| 67 |
+
<origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
|
| 68 |
+
<mass value="1.790000000e+01"/>
|
| 69 |
+
<inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
|
| 70 |
+
</inertial>
|
| 71 |
+
</link>
|
| 72 |
+
<joint name="lift_fixed_joint" type="fixed">
|
| 73 |
+
<parent link="base_link"/>
|
| 74 |
+
<child link="lift_link"/>
|
| 75 |
+
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
| 76 |
+
</joint>
|
| 77 |
+
<material name="aluminum">
|
| 78 |
+
<color rgba="0.5 0.5 0.5 1"/>
|
| 79 |
+
</material>
|
| 80 |
+
<material name="plastic">
|
| 81 |
+
<color rgba="0.1 0.1 0.1 1"/>
|
| 82 |
+
</material>
|
| 83 |
+
<joint name="lift_joint" type="prismatic">
|
| 84 |
+
<parent link="base_link"/>
|
| 85 |
+
<child link="arm_base_link"/>
|
| 86 |
+
<origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
|
| 87 |
+
<axis xyz="0 0 1"/>
|
| 88 |
+
<limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
|
| 89 |
+
<dynamics damping="0.1"/>
|
| 90 |
+
</joint>
|
| 91 |
+
<link name="arm_base_link">
|
| 92 |
+
<visual>
|
| 93 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 94 |
+
<geometry>
|
| 95 |
+
<mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
|
| 96 |
+
</geometry>
|
| 97 |
+
<material name="white">
|
| 98 |
+
<color rgba="1 1 1 1"/>
|
| 99 |
+
</material>
|
| 100 |
+
</visual>
|
| 101 |
+
<collision>
|
| 102 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 103 |
+
<geometry>
|
| 104 |
+
<mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
|
| 105 |
+
</geometry>
|
| 106 |
+
</collision>
|
| 107 |
+
<inertial>
|
| 108 |
+
<origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
|
| 109 |
+
<mass value="6.193955900e+00"/>
|
| 110 |
+
<inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
|
| 111 |
+
</inertial>
|
| 112 |
+
</link>
|
| 113 |
+
<joint name="head_joint1" type="revolute">
|
| 114 |
+
<parent link="arm_base_link"/>
|
| 115 |
+
<child link="head_link1"/>
|
| 116 |
+
<origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
|
| 117 |
+
<axis xyz="0 1 0"/>
|
| 118 |
+
<limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
|
| 119 |
+
<dynamics damping="0.1"/>
|
| 120 |
+
</joint>
|
| 121 |
+
<link name="head_link1">
|
| 122 |
+
<visual>
|
| 123 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 124 |
+
<geometry>
|
| 125 |
+
<mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
|
| 126 |
+
</geometry>
|
| 127 |
+
<material name="grey">
|
| 128 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 129 |
+
</material>
|
| 130 |
+
</visual>
|
| 131 |
+
<collision>
|
| 132 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 133 |
+
<geometry>
|
| 134 |
+
<mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
|
| 135 |
+
</geometry>
|
| 136 |
+
</collision>
|
| 137 |
+
<inertial>
|
| 138 |
+
<origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
|
| 139 |
+
<mass value="1.235180200e-01"/>
|
| 140 |
+
<inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
|
| 141 |
+
</inertial>
|
| 142 |
+
</link>
|
| 143 |
+
<joint name="head_joint2" type="revolute">
|
| 144 |
+
<parent link="head_link1"/>
|
| 145 |
+
<child link="head_link2"/>
|
| 146 |
+
<origin rpy="0 0 0" xyz="0.040 0 0.054"/>
|
| 147 |
+
<axis xyz="0 0 1"/>
|
| 148 |
+
<limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
|
| 149 |
+
<dynamics damping="0.1"/>
|
| 150 |
+
</joint>
|
| 151 |
+
<link name="head_link2">
|
| 152 |
+
<visual>
|
| 153 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 154 |
+
<geometry>
|
| 155 |
+
<mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
|
| 156 |
+
</geometry>
|
| 157 |
+
<material name="white">
|
| 158 |
+
<color rgba="1 1 1 1"/>
|
| 159 |
+
</material>
|
| 160 |
+
</visual>
|
| 161 |
+
<collision>
|
| 162 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 163 |
+
<geometry>
|
| 164 |
+
<mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
|
| 165 |
+
</geometry>
|
| 166 |
+
</collision>
|
| 167 |
+
<inertial>
|
| 168 |
+
<origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
|
| 169 |
+
<mass value="3.254213000e-01"/>
|
| 170 |
+
<inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
|
| 171 |
+
</inertial>
|
| 172 |
+
</link>
|
| 173 |
+
<link name="zedm_camera_link"/>
|
| 174 |
+
<link name="zedm_camera_center">
|
| 175 |
+
<visual>
|
| 176 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 177 |
+
<geometry>
|
| 178 |
+
<mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
|
| 179 |
+
</geometry>
|
| 180 |
+
<material name="zedm_mat">
|
| 181 |
+
<color rgba="0.25 0.25 0.25 1.0"/>
|
| 182 |
+
</material>
|
| 183 |
+
</visual>
|
| 184 |
+
<collision>
|
| 185 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 186 |
+
<geometry>
|
| 187 |
+
<mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
|
| 188 |
+
</geometry>
|
| 189 |
+
</collision>
|
| 190 |
+
</link>
|
| 191 |
+
<joint name="zedm_camera_center_joint" type="fixed">
|
| 192 |
+
<parent link="zedm_camera_link"/>
|
| 193 |
+
<child link="zedm_camera_center"/>
|
| 194 |
+
<origin rpy="0 0 0" xyz="0 0 0.01325"/>
|
| 195 |
+
</joint>
|
| 196 |
+
<link name="zedm_left_camera_frame"/>
|
| 197 |
+
<joint name="zedm_left_camera_joint" type="fixed">
|
| 198 |
+
<parent link="zedm_camera_center"/>
|
| 199 |
+
<child link="zedm_left_camera_frame"/>
|
| 200 |
+
<origin rpy="0 0 0" xyz="0 0.0315 0"/>
|
| 201 |
+
</joint>
|
| 202 |
+
<link name="zedm_left_camera_optical_frame"/>
|
| 203 |
+
<joint name="zedm_left_camera_optical_joint" type="fixed">
|
| 204 |
+
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
|
| 205 |
+
<parent link="zedm_left_camera_frame"/>
|
| 206 |
+
<child link="zedm_left_camera_optical_frame"/>
|
| 207 |
+
</joint>
|
| 208 |
+
<link name="zedm_right_camera_frame"/>
|
| 209 |
+
<joint name="zedm_right_camera_joint" type="fixed">
|
| 210 |
+
<parent link="zedm_camera_center"/>
|
| 211 |
+
<child link="zedm_right_camera_frame"/>
|
| 212 |
+
<origin rpy="0 0 0" xyz="0 -0.0315 0"/>
|
| 213 |
+
</joint>
|
| 214 |
+
<link name="zedm_right_camera_optical_frame"/>
|
| 215 |
+
<joint name="zedm_right_camera_optical_joint" type="fixed">
|
| 216 |
+
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
|
| 217 |
+
<parent link="zedm_right_camera_frame"/>
|
| 218 |
+
<child link="zedm_right_camera_optical_frame"/>
|
| 219 |
+
</joint>
|
| 220 |
+
<joint name="zedm_joint" type="fixed">
|
| 221 |
+
<parent link="head_link2"/>
|
| 222 |
+
<child link="zedm_camera_link"/>
|
| 223 |
+
<origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
|
| 224 |
+
</joint>
|
| 225 |
+
<joint name="arm_l_joint1" type="revolute">
|
| 226 |
+
<parent link="arm_base_link"/>
|
| 227 |
+
<child link="arm_l_link1"/>
|
| 228 |
+
<origin rpy="0 0 0" xyz="0 0.1045 0"/>
|
| 229 |
+
<axis xyz="0 1 0"/>
|
| 230 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 231 |
+
<dynamics damping="0.1"/>
|
| 232 |
+
</joint>
|
| 233 |
+
<link name="arm_l_link1">
|
| 234 |
+
<visual>
|
| 235 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 236 |
+
<geometry>
|
| 237 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
|
| 238 |
+
</geometry>
|
| 239 |
+
<material name="black">
|
| 240 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 241 |
+
</material>
|
| 242 |
+
</visual>
|
| 243 |
+
<collision>
|
| 244 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 245 |
+
<geometry>
|
| 246 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
|
| 247 |
+
</geometry>
|
| 248 |
+
</collision>
|
| 249 |
+
<inertial>
|
| 250 |
+
<origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
|
| 251 |
+
<mass value="2.001332200e+00"/>
|
| 252 |
+
<inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
|
| 253 |
+
</inertial>
|
| 254 |
+
</link>
|
| 255 |
+
<joint name="arm_l_joint2" type="revolute">
|
| 256 |
+
<parent link="arm_l_link1"/>
|
| 257 |
+
<child link="arm_l_link2"/>
|
| 258 |
+
<origin rpy="0 0 0" xyz="0 0.123 0"/>
|
| 259 |
+
<axis xyz="1 0 0"/>
|
| 260 |
+
<limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
|
| 261 |
+
<dynamics damping="0.1"/>
|
| 262 |
+
</joint>
|
| 263 |
+
<link name="arm_l_link2">
|
| 264 |
+
<visual>
|
| 265 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 266 |
+
<geometry>
|
| 267 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
|
| 268 |
+
</geometry>
|
| 269 |
+
<material name="black">
|
| 270 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 271 |
+
</material>
|
| 272 |
+
</visual>
|
| 273 |
+
<collision>
|
| 274 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 275 |
+
<geometry>
|
| 276 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
|
| 277 |
+
</geometry>
|
| 278 |
+
</collision>
|
| 279 |
+
<inertial>
|
| 280 |
+
<origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
|
| 281 |
+
<mass value="2.128261000e+00"/>
|
| 282 |
+
<inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
|
| 283 |
+
</inertial>
|
| 284 |
+
</link>
|
| 285 |
+
<joint name="arm_l_joint3" type="revolute">
|
| 286 |
+
<parent link="arm_l_link2"/>
|
| 287 |
+
<child link="arm_l_link3"/>
|
| 288 |
+
<origin rpy="0 0 0" xyz="0 0 -0.165"/>
|
| 289 |
+
<axis xyz="0 0 1"/>
|
| 290 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 291 |
+
<dynamics damping="0.1"/>
|
| 292 |
+
</joint>
|
| 293 |
+
<link name="arm_l_link3">
|
| 294 |
+
<visual>
|
| 295 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 296 |
+
<geometry>
|
| 297 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
|
| 298 |
+
</geometry>
|
| 299 |
+
<material name="black">
|
| 300 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 301 |
+
</material>
|
| 302 |
+
</visual>
|
| 303 |
+
<collision>
|
| 304 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 305 |
+
<geometry>
|
| 306 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
|
| 307 |
+
</geometry>
|
| 308 |
+
</collision>
|
| 309 |
+
<inertial>
|
| 310 |
+
<origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
|
| 311 |
+
<mass value="1.684755100e+00"/>
|
| 312 |
+
<inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
|
| 313 |
+
</inertial>
|
| 314 |
+
</link>
|
| 315 |
+
<joint name="arm_l_joint4" type="revolute">
|
| 316 |
+
<parent link="arm_l_link3"/>
|
| 317 |
+
<child link="arm_l_link4"/>
|
| 318 |
+
<origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
|
| 319 |
+
<axis xyz="0 1 0"/>
|
| 320 |
+
<limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
|
| 321 |
+
<dynamics damping="0.1"/>
|
| 322 |
+
</joint>
|
| 323 |
+
<link name="arm_l_link4">
|
| 324 |
+
<visual>
|
| 325 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 326 |
+
<geometry>
|
| 327 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
|
| 328 |
+
</geometry>
|
| 329 |
+
<material name="black">
|
| 330 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 331 |
+
</material>
|
| 332 |
+
</visual>
|
| 333 |
+
<collision>
|
| 334 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 335 |
+
<geometry>
|
| 336 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
|
| 337 |
+
</geometry>
|
| 338 |
+
</collision>
|
| 339 |
+
<inertial>
|
| 340 |
+
<origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
|
| 341 |
+
<mass value="1.508214400e+00"/>
|
| 342 |
+
<inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
|
| 343 |
+
</inertial>
|
| 344 |
+
</link>
|
| 345 |
+
<joint name="arm_l_joint5" type="revolute">
|
| 346 |
+
<parent link="arm_l_link4"/>
|
| 347 |
+
<child link="arm_l_link5"/>
|
| 348 |
+
<origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
|
| 349 |
+
<axis xyz="0 0 1"/>
|
| 350 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 351 |
+
<dynamics damping="0.1"/>
|
| 352 |
+
</joint>
|
| 353 |
+
<link name="arm_l_link5">
|
| 354 |
+
<visual>
|
| 355 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 356 |
+
<geometry>
|
| 357 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
|
| 358 |
+
</geometry>
|
| 359 |
+
<material name="black">
|
| 360 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 361 |
+
</material>
|
| 362 |
+
</visual>
|
| 363 |
+
<collision>
|
| 364 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 365 |
+
<geometry>
|
| 366 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
|
| 367 |
+
</geometry>
|
| 368 |
+
</collision>
|
| 369 |
+
<inertial>
|
| 370 |
+
<origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
|
| 371 |
+
<mass value="1.391783100e+00"/>
|
| 372 |
+
<inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
|
| 373 |
+
</inertial>
|
| 374 |
+
</link>
|
| 375 |
+
<joint name="arm_l_joint6" type="revolute">
|
| 376 |
+
<parent link="arm_l_link5"/>
|
| 377 |
+
<child link="arm_l_link6"/>
|
| 378 |
+
<origin rpy="0 0 0" xyz="0 0 -0.1041"/>
|
| 379 |
+
<axis xyz="0 1 0"/>
|
| 380 |
+
<limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
|
| 381 |
+
<dynamics damping="0.1"/>
|
| 382 |
+
</joint>
|
| 383 |
+
<link name="arm_l_link6">
|
| 384 |
+
<visual>
|
| 385 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 386 |
+
<geometry>
|
| 387 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
|
| 388 |
+
</geometry>
|
| 389 |
+
<material name="black">
|
| 390 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 391 |
+
</material>
|
| 392 |
+
</visual>
|
| 393 |
+
<collision>
|
| 394 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 395 |
+
<geometry>
|
| 396 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
|
| 397 |
+
</geometry>
|
| 398 |
+
</collision>
|
| 399 |
+
<inertial>
|
| 400 |
+
<origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
|
| 401 |
+
<mass value="6.577074100e-01"/>
|
| 402 |
+
<inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
|
| 403 |
+
</inertial>
|
| 404 |
+
</link>
|
| 405 |
+
<joint name="arm_l_joint7" type="revolute">
|
| 406 |
+
<parent link="arm_l_link6"/>
|
| 407 |
+
<child link="arm_l_link7"/>
|
| 408 |
+
<origin rpy="0 0 0" xyz="0 0 -0.0885"/>
|
| 409 |
+
<axis xyz="1 0 0"/>
|
| 410 |
+
<limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
|
| 411 |
+
<dynamics damping="0.1"/>
|
| 412 |
+
</joint>
|
| 413 |
+
<link name="arm_l_link7">
|
| 414 |
+
<visual>
|
| 415 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 416 |
+
<geometry>
|
| 417 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
|
| 418 |
+
</geometry>
|
| 419 |
+
<material name="black">
|
| 420 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 421 |
+
</material>
|
| 422 |
+
</visual>
|
| 423 |
+
<collision>
|
| 424 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 425 |
+
<geometry>
|
| 426 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
|
| 427 |
+
</geometry>
|
| 428 |
+
</collision>
|
| 429 |
+
<inertial>
|
| 430 |
+
<origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
|
| 431 |
+
<mass value="1.668563000e-01"/>
|
| 432 |
+
<inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
|
| 433 |
+
</inertial>
|
| 434 |
+
</link>
|
| 435 |
+
<!-- camera body, with origin at bottom screw mount -->
|
| 436 |
+
<joint name="camera_l_joint" type="fixed">
|
| 437 |
+
<origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
|
| 438 |
+
<parent link="arm_l_link7"/>
|
| 439 |
+
<child link="camera_l_bottom_screw_frame"/>
|
| 440 |
+
</joint>
|
| 441 |
+
<link name="camera_l_bottom_screw_frame"/>
|
| 442 |
+
<joint name="camera_l_link_joint" type="fixed">
|
| 443 |
+
<origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
|
| 444 |
+
<parent link="camera_l_bottom_screw_frame"/>
|
| 445 |
+
<child link="camera_l_link"/>
|
| 446 |
+
</joint>
|
| 447 |
+
<link name="camera_l_link">
|
| 448 |
+
<visual>
|
| 449 |
+
<!-- the mesh origin is at front plate in between the two infrared camera axes -->
|
| 450 |
+
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
|
| 451 |
+
<geometry>
|
| 452 |
+
<mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
|
| 453 |
+
</geometry>
|
| 454 |
+
<material name="aluminum"/>
|
| 455 |
+
</visual>
|
| 456 |
+
<collision>
|
| 457 |
+
<origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
|
| 458 |
+
<geometry>
|
| 459 |
+
<box size="0.023 0.042 0.042"/>
|
| 460 |
+
</geometry>
|
| 461 |
+
</collision>
|
| 462 |
+
<inertial>
|
| 463 |
+
<!-- The following are not reliable values, and should not be used for modeling -->
|
| 464 |
+
<mass value="0.072"/>
|
| 465 |
+
<origin xyz="0 0 0"/>
|
| 466 |
+
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
|
| 467 |
+
</inertial>
|
| 468 |
+
</link>
|
| 469 |
+
<joint name="arm_r_joint1" type="revolute">
|
| 470 |
+
<parent link="arm_base_link"/>
|
| 471 |
+
<child link="arm_r_link1"/>
|
| 472 |
+
<origin rpy="0 0 0" xyz="0 -0.1045 0"/>
|
| 473 |
+
<axis xyz="0 1 0"/>
|
| 474 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 475 |
+
<dynamics damping="0.1"/>
|
| 476 |
+
</joint>
|
| 477 |
+
<link name="arm_r_link1">
|
| 478 |
+
<visual>
|
| 479 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 480 |
+
<geometry>
|
| 481 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
|
| 482 |
+
</geometry>
|
| 483 |
+
<material name="black">
|
| 484 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 485 |
+
</material>
|
| 486 |
+
</visual>
|
| 487 |
+
<collision>
|
| 488 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 489 |
+
<geometry>
|
| 490 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
|
| 491 |
+
</geometry>
|
| 492 |
+
</collision>
|
| 493 |
+
<inertial>
|
| 494 |
+
<origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
|
| 495 |
+
<mass value="2.001332200e+00"/>
|
| 496 |
+
<inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
|
| 497 |
+
</inertial>
|
| 498 |
+
</link>
|
| 499 |
+
<joint name="arm_r_joint2" type="revolute">
|
| 500 |
+
<parent link="arm_r_link1"/>
|
| 501 |
+
<child link="arm_r_link2"/>
|
| 502 |
+
<origin rpy="0 0 0" xyz="0 -0.123 0"/>
|
| 503 |
+
<axis xyz="1 0 0"/>
|
| 504 |
+
<limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
|
| 505 |
+
<dynamics damping="0.1"/>
|
| 506 |
+
</joint>
|
| 507 |
+
<link name="arm_r_link2">
|
| 508 |
+
<visual>
|
| 509 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 510 |
+
<geometry>
|
| 511 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
|
| 512 |
+
</geometry>
|
| 513 |
+
<material name="black">
|
| 514 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 515 |
+
</material>
|
| 516 |
+
</visual>
|
| 517 |
+
<collision>
|
| 518 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 519 |
+
<geometry>
|
| 520 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
|
| 521 |
+
</geometry>
|
| 522 |
+
</collision>
|
| 523 |
+
<inertial>
|
| 524 |
+
<origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
|
| 525 |
+
<mass value="2.128261000e+00"/>
|
| 526 |
+
<inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
|
| 527 |
+
</inertial>
|
| 528 |
+
</link>
|
| 529 |
+
<joint name="arm_r_joint3" type="revolute">
|
| 530 |
+
<parent link="arm_r_link2"/>
|
| 531 |
+
<child link="arm_r_link3"/>
|
| 532 |
+
<origin rpy="0 0 0" xyz="0 0 -0.165"/>
|
| 533 |
+
<axis xyz="0 0 1"/>
|
| 534 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 535 |
+
<dynamics damping="0.1"/>
|
| 536 |
+
</joint>
|
| 537 |
+
<link name="arm_r_link3">
|
| 538 |
+
<visual>
|
| 539 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 540 |
+
<geometry>
|
| 541 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
|
| 542 |
+
</geometry>
|
| 543 |
+
<material name="black">
|
| 544 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 545 |
+
</material>
|
| 546 |
+
</visual>
|
| 547 |
+
<collision>
|
| 548 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 549 |
+
<geometry>
|
| 550 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
|
| 551 |
+
</geometry>
|
| 552 |
+
</collision>
|
| 553 |
+
<inertial>
|
| 554 |
+
<origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
|
| 555 |
+
<mass value="1.684755100e+00"/>
|
| 556 |
+
<inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
|
| 557 |
+
</inertial>
|
| 558 |
+
</link>
|
| 559 |
+
<joint name="arm_r_joint4" type="revolute">
|
| 560 |
+
<parent link="arm_r_link3"/>
|
| 561 |
+
<child link="arm_r_link4"/>
|
| 562 |
+
<origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
|
| 563 |
+
<axis xyz="0 1 0"/>
|
| 564 |
+
<limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
|
| 565 |
+
<dynamics damping="0.1"/>
|
| 566 |
+
</joint>
|
| 567 |
+
<link name="arm_r_link4">
|
| 568 |
+
<visual>
|
| 569 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 570 |
+
<geometry>
|
| 571 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
|
| 572 |
+
</geometry>
|
| 573 |
+
<material name="black">
|
| 574 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 575 |
+
</material>
|
| 576 |
+
</visual>
|
| 577 |
+
<collision>
|
| 578 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 579 |
+
<geometry>
|
| 580 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
|
| 581 |
+
</geometry>
|
| 582 |
+
</collision>
|
| 583 |
+
<inertial>
|
| 584 |
+
<origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
|
| 585 |
+
<mass value="1.494251100e+00"/>
|
| 586 |
+
<inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
|
| 587 |
+
</inertial>
|
| 588 |
+
</link>
|
| 589 |
+
<joint name="arm_r_joint5" type="revolute">
|
| 590 |
+
<parent link="arm_r_link4"/>
|
| 591 |
+
<child link="arm_r_link5"/>
|
| 592 |
+
<origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
|
| 593 |
+
<axis xyz="0 0 1"/>
|
| 594 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 595 |
+
<dynamics damping="0.1"/>
|
| 596 |
+
</joint>
|
| 597 |
+
<link name="arm_r_link5">
|
| 598 |
+
<visual>
|
| 599 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 600 |
+
<geometry>
|
| 601 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
|
| 602 |
+
</geometry>
|
| 603 |
+
<material name="black">
|
| 604 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 605 |
+
</material>
|
| 606 |
+
</visual>
|
| 607 |
+
<collision>
|
| 608 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 609 |
+
<geometry>
|
| 610 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
|
| 611 |
+
</geometry>
|
| 612 |
+
</collision>
|
| 613 |
+
<inertial>
|
| 614 |
+
<origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
|
| 615 |
+
<mass value="1.391783100e+00"/>
|
| 616 |
+
<inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
|
| 617 |
+
</inertial>
|
| 618 |
+
</link>
|
| 619 |
+
<joint name="arm_r_joint6" type="revolute">
|
| 620 |
+
<parent link="arm_r_link5"/>
|
| 621 |
+
<child link="arm_r_link6"/>
|
| 622 |
+
<origin rpy="0 0 0" xyz="0 0 -0.1041"/>
|
| 623 |
+
<axis xyz="0 1 0"/>
|
| 624 |
+
<limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
|
| 625 |
+
<dynamics damping="0.1"/>
|
| 626 |
+
</joint>
|
| 627 |
+
<link name="arm_r_link6">
|
| 628 |
+
<visual>
|
| 629 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 630 |
+
<geometry>
|
| 631 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
|
| 632 |
+
</geometry>
|
| 633 |
+
<material name="black">
|
| 634 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 635 |
+
</material>
|
| 636 |
+
</visual>
|
| 637 |
+
<collision>
|
| 638 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 639 |
+
<geometry>
|
| 640 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
|
| 641 |
+
</geometry>
|
| 642 |
+
</collision>
|
| 643 |
+
<inertial>
|
| 644 |
+
<origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
|
| 645 |
+
<mass value="6.577074100e-01"/>
|
| 646 |
+
<inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
|
| 647 |
+
</inertial>
|
| 648 |
+
</link>
|
| 649 |
+
<joint name="arm_r_joint7" type="revolute">
|
| 650 |
+
<parent link="arm_r_link6"/>
|
| 651 |
+
<child link="arm_r_link7"/>
|
| 652 |
+
<origin rpy="0 0 0" xyz="0 0 -0.0885"/>
|
| 653 |
+
<axis xyz="1 0 0"/>
|
| 654 |
+
<limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
|
| 655 |
+
<dynamics damping="0.1"/>
|
| 656 |
+
</joint>
|
| 657 |
+
<link name="arm_r_link7">
|
| 658 |
+
<visual>
|
| 659 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 660 |
+
<geometry>
|
| 661 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
|
| 662 |
+
</geometry>
|
| 663 |
+
<material name="black">
|
| 664 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 665 |
+
</material>
|
| 666 |
+
</visual>
|
| 667 |
+
<collision>
|
| 668 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 669 |
+
<geometry>
|
| 670 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
|
| 671 |
+
</geometry>
|
| 672 |
+
</collision>
|
| 673 |
+
<inertial>
|
| 674 |
+
<origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
|
| 675 |
+
<mass value="1.668563000e-01"/>
|
| 676 |
+
<inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
|
| 677 |
+
</inertial>
|
| 678 |
+
</link>
|
| 679 |
+
<!-- camera body, with origin at bottom screw mount -->
|
| 680 |
+
<joint name="camera_r_joint" type="fixed">
|
| 681 |
+
<origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
|
| 682 |
+
<parent link="arm_r_link7"/>
|
| 683 |
+
<child link="camera_r_bottom_screw_frame"/>
|
| 684 |
+
</joint>
|
| 685 |
+
<link name="camera_r_bottom_screw_frame"/>
|
| 686 |
+
<joint name="camera_r_link_joint" type="fixed">
|
| 687 |
+
<origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
|
| 688 |
+
<parent link="camera_r_bottom_screw_frame"/>
|
| 689 |
+
<child link="camera_r_link"/>
|
| 690 |
+
</joint>
|
| 691 |
+
<link name="camera_r_link">
|
| 692 |
+
<visual>
|
| 693 |
+
<!-- the mesh origin is at front plate in between the two infrared camera axes -->
|
| 694 |
+
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
|
| 695 |
+
<geometry>
|
| 696 |
+
<mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
|
| 697 |
+
</geometry>
|
| 698 |
+
<material name="aluminum"/>
|
| 699 |
+
</visual>
|
| 700 |
+
<collision>
|
| 701 |
+
<origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
|
| 702 |
+
<geometry>
|
| 703 |
+
<box size="0.023 0.042 0.042"/>
|
| 704 |
+
</geometry>
|
| 705 |
+
</collision>
|
| 706 |
+
<inertial>
|
| 707 |
+
<!-- The following are not reliable values, and should not be used for modeling -->
|
| 708 |
+
<mass value="0.072"/>
|
| 709 |
+
<origin xyz="0 0 0"/>
|
| 710 |
+
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
|
| 711 |
+
</inertial>
|
| 712 |
+
</link>
|
| 713 |
+
<joint name="gripper_l_joint" type="fixed">
|
| 714 |
+
<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
|
| 715 |
+
<parent link="arm_l_link7"/>
|
| 716 |
+
<child link="gripper_l_rh_p12_rn_base"/>
|
| 717 |
+
</joint>
|
| 718 |
+
<!-- base -->
|
| 719 |
+
<link name="gripper_l_rh_p12_rn_base">
|
| 720 |
+
<collision>
|
| 721 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 722 |
+
<geometry>
|
| 723 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
|
| 724 |
+
</geometry>
|
| 725 |
+
</collision>
|
| 726 |
+
<visual>
|
| 727 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 728 |
+
<geometry>
|
| 729 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
|
| 730 |
+
</geometry>
|
| 731 |
+
<material name="grey">
|
| 732 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 733 |
+
</material>
|
| 734 |
+
</visual>
|
| 735 |
+
<inertial>
|
| 736 |
+
<origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
|
| 737 |
+
<mass value="0.236"/>
|
| 738 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 739 |
+
</inertial>
|
| 740 |
+
</link>
|
| 741 |
+
<!-- Joint -->
|
| 742 |
+
<joint name="gripper_l_joint1" type="revolute">
|
| 743 |
+
<parent link="gripper_l_rh_p12_rn_base"/>
|
| 744 |
+
<child link="gripper_l_rh_p12_rn_r1"/>
|
| 745 |
+
<origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
|
| 746 |
+
<axis xyz="1 0 0"/>
|
| 747 |
+
<limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
|
| 748 |
+
<dynamics damping="0.7"/>
|
| 749 |
+
</joint>
|
| 750 |
+
<!-- rh_p12_rn_r1 -->
|
| 751 |
+
<link name="gripper_l_rh_p12_rn_r1">
|
| 752 |
+
<collision>
|
| 753 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 754 |
+
<geometry>
|
| 755 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
|
| 756 |
+
</geometry>
|
| 757 |
+
</collision>
|
| 758 |
+
<visual>
|
| 759 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 760 |
+
<geometry>
|
| 761 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
|
| 762 |
+
</geometry>
|
| 763 |
+
<material name="grey">
|
| 764 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 765 |
+
</material>
|
| 766 |
+
</visual>
|
| 767 |
+
<inertial>
|
| 768 |
+
<origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
|
| 769 |
+
<mass value="0.068"/>
|
| 770 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 771 |
+
</inertial>
|
| 772 |
+
</link>
|
| 773 |
+
<!-- Right Joint 2 -->
|
| 774 |
+
<joint name="gripper_l_joint2" type="revolute">
|
| 775 |
+
<parent link="gripper_l_rh_p12_rn_r1"/>
|
| 776 |
+
<child link="gripper_l_rh_p12_rn_r2"/>
|
| 777 |
+
<origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
|
| 778 |
+
<axis xyz="-1 0 0"/>
|
| 779 |
+
<limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
|
| 780 |
+
<dynamics damping="0.7"/>
|
| 781 |
+
<mimic joint="gripper_l_joint1" multiplier="1"/>
|
| 782 |
+
</joint>
|
| 783 |
+
<!-- rh_p12_rn_r2 -->
|
| 784 |
+
<link name="gripper_l_rh_p12_rn_r2">
|
| 785 |
+
<collision>
|
| 786 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 787 |
+
<geometry>
|
| 788 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
|
| 789 |
+
</geometry>
|
| 790 |
+
</collision>
|
| 791 |
+
<visual>
|
| 792 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 793 |
+
<geometry>
|
| 794 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
|
| 795 |
+
</geometry>
|
| 796 |
+
<material name="grey">
|
| 797 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 798 |
+
</material>
|
| 799 |
+
</visual>
|
| 800 |
+
<inertial>
|
| 801 |
+
<origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
|
| 802 |
+
<mass value="0.022"/>
|
| 803 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 804 |
+
</inertial>
|
| 805 |
+
</link>
|
| 806 |
+
<!-- Left Joint 1 -->
|
| 807 |
+
<joint name="gripper_l_joint3" type="revolute">
|
| 808 |
+
<parent link="gripper_l_rh_p12_rn_base"/>
|
| 809 |
+
<child link="gripper_l_rh_p12_rn_l1"/>
|
| 810 |
+
<origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
|
| 811 |
+
<axis xyz="-1 0 0"/>
|
| 812 |
+
<limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
|
| 813 |
+
<dynamics damping="0.7"/>
|
| 814 |
+
<mimic joint="gripper_l_joint1" multiplier="1"/>
|
| 815 |
+
</joint>
|
| 816 |
+
<!-- rh_p12_rn_l1 -->
|
| 817 |
+
<link name="gripper_l_rh_p12_rn_l1">
|
| 818 |
+
<collision>
|
| 819 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 820 |
+
<geometry>
|
| 821 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
|
| 822 |
+
</geometry>
|
| 823 |
+
</collision>
|
| 824 |
+
<visual>
|
| 825 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 826 |
+
<geometry>
|
| 827 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
|
| 828 |
+
</geometry>
|
| 829 |
+
<material name="grey">
|
| 830 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 831 |
+
</material>
|
| 832 |
+
</visual>
|
| 833 |
+
<inertial>
|
| 834 |
+
<origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
|
| 835 |
+
<mass value="0.068"/>
|
| 836 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 837 |
+
</inertial>
|
| 838 |
+
</link>
|
| 839 |
+
<!-- Left Joint 2 -->
|
| 840 |
+
<joint name="gripper_l_joint4" type="revolute">
|
| 841 |
+
<parent link="gripper_l_rh_p12_rn_l1"/>
|
| 842 |
+
<child link="gripper_l_rh_p12_rn_l2"/>
|
| 843 |
+
<origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
|
| 844 |
+
<axis xyz="1 0 0"/>
|
| 845 |
+
<limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
|
| 846 |
+
<dynamics damping="0.7"/>
|
| 847 |
+
<mimic joint="gripper_l_joint1" multiplier="1"/>
|
| 848 |
+
</joint>
|
| 849 |
+
<!-- rh_p12_rn_l2 -->
|
| 850 |
+
<link name="gripper_l_rh_p12_rn_l2">
|
| 851 |
+
<collision>
|
| 852 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 853 |
+
<geometry>
|
| 854 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
|
| 855 |
+
</geometry>
|
| 856 |
+
</collision>
|
| 857 |
+
<visual>
|
| 858 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 859 |
+
<geometry>
|
| 860 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
|
| 861 |
+
</geometry>
|
| 862 |
+
<material name="grey">
|
| 863 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 864 |
+
</material>
|
| 865 |
+
</visual>
|
| 866 |
+
<inertial>
|
| 867 |
+
<origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
|
| 868 |
+
<mass value="0.022"/>
|
| 869 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 870 |
+
</inertial>
|
| 871 |
+
</link>
|
| 872 |
+
<joint name="end_effector_l_joint" type="fixed">
|
| 873 |
+
<parent link="arm_l_link7"/>
|
| 874 |
+
<child link="end_effector_l_link"/>
|
| 875 |
+
<origin rpy="0 0 0" xyz="0 0 -0.215"/>
|
| 876 |
+
</joint>
|
| 877 |
+
<link name="end_effector_l_link">
|
| 878 |
+
<visual>
|
| 879 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 880 |
+
<geometry>
|
| 881 |
+
<box size="0.01 0.01 0.01"/>
|
| 882 |
+
</geometry>
|
| 883 |
+
<material name="red">
|
| 884 |
+
<color rgba="1.0 0.0 0.0 1"/>
|
| 885 |
+
</material>
|
| 886 |
+
</visual>
|
| 887 |
+
</link>
|
| 888 |
+
<joint name="gripper_r_joint" type="fixed">
|
| 889 |
+
<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
|
| 890 |
+
<parent link="arm_r_link7"/>
|
| 891 |
+
<child link="gripper_r_rh_p12_rn_base"/>
|
| 892 |
+
</joint>
|
| 893 |
+
<!-- base -->
|
| 894 |
+
<link name="gripper_r_rh_p12_rn_base">
|
| 895 |
+
<collision>
|
| 896 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 897 |
+
<geometry>
|
| 898 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
|
| 899 |
+
</geometry>
|
| 900 |
+
</collision>
|
| 901 |
+
<visual>
|
| 902 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 903 |
+
<geometry>
|
| 904 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
|
| 905 |
+
</geometry>
|
| 906 |
+
<material name="grey">
|
| 907 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 908 |
+
</material>
|
| 909 |
+
</visual>
|
| 910 |
+
<inertial>
|
| 911 |
+
<origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
|
| 912 |
+
<mass value="0.236"/>
|
| 913 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 914 |
+
</inertial>
|
| 915 |
+
</link>
|
| 916 |
+
<!-- Joint -->
|
| 917 |
+
<joint name="gripper_r_joint1" type="revolute">
|
| 918 |
+
<parent link="gripper_r_rh_p12_rn_base"/>
|
| 919 |
+
<child link="gripper_r_rh_p12_rn_r1"/>
|
| 920 |
+
<origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
|
| 921 |
+
<axis xyz="1 0 0"/>
|
| 922 |
+
<limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
|
| 923 |
+
<dynamics damping="0.7"/>
|
| 924 |
+
</joint>
|
| 925 |
+
<!-- rh_p12_rn_r1 -->
|
| 926 |
+
<link name="gripper_r_rh_p12_rn_r1">
|
| 927 |
+
<collision>
|
| 928 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 929 |
+
<geometry>
|
| 930 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
|
| 931 |
+
</geometry>
|
| 932 |
+
</collision>
|
| 933 |
+
<visual>
|
| 934 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 935 |
+
<geometry>
|
| 936 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
|
| 937 |
+
</geometry>
|
| 938 |
+
<material name="grey">
|
| 939 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 940 |
+
</material>
|
| 941 |
+
</visual>
|
| 942 |
+
<inertial>
|
| 943 |
+
<origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
|
| 944 |
+
<mass value="0.068"/>
|
| 945 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 946 |
+
</inertial>
|
| 947 |
+
</link>
|
| 948 |
+
<!-- Right Joint 2 -->
|
| 949 |
+
<joint name="gripper_r_joint2" type="revolute">
|
| 950 |
+
<parent link="gripper_r_rh_p12_rn_r1"/>
|
| 951 |
+
<child link="gripper_r_rh_p12_rn_r2"/>
|
| 952 |
+
<origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
|
| 953 |
+
<axis xyz="-1 0 0"/>
|
| 954 |
+
<limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
|
| 955 |
+
<dynamics damping="0.7"/>
|
| 956 |
+
<mimic joint="gripper_r_joint1" multiplier="1"/>
|
| 957 |
+
</joint>
|
| 958 |
+
<!-- rh_p12_rn_r2 -->
|
| 959 |
+
<link name="gripper_r_rh_p12_rn_r2">
|
| 960 |
+
<collision>
|
| 961 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 962 |
+
<geometry>
|
| 963 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
|
| 964 |
+
</geometry>
|
| 965 |
+
</collision>
|
| 966 |
+
<visual>
|
| 967 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 968 |
+
<geometry>
|
| 969 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
|
| 970 |
+
</geometry>
|
| 971 |
+
<material name="grey">
|
| 972 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 973 |
+
</material>
|
| 974 |
+
</visual>
|
| 975 |
+
<inertial>
|
| 976 |
+
<origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
|
| 977 |
+
<mass value="0.022"/>
|
| 978 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 979 |
+
</inertial>
|
| 980 |
+
</link>
|
| 981 |
+
<!-- Left Joint 1 -->
|
| 982 |
+
<joint name="gripper_r_joint3" type="revolute">
|
| 983 |
+
<parent link="gripper_r_rh_p12_rn_base"/>
|
| 984 |
+
<child link="gripper_r_rh_p12_rn_l1"/>
|
| 985 |
+
<origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
|
| 986 |
+
<axis xyz="-1 0 0"/>
|
| 987 |
+
<limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
|
| 988 |
+
<dynamics damping="0.7"/>
|
| 989 |
+
<mimic joint="gripper_r_joint1" multiplier="1"/>
|
| 990 |
+
</joint>
|
| 991 |
+
<!-- rh_p12_rn_l1 -->
|
| 992 |
+
<link name="gripper_r_rh_p12_rn_l1">
|
| 993 |
+
<collision>
|
| 994 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 995 |
+
<geometry>
|
| 996 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
|
| 997 |
+
</geometry>
|
| 998 |
+
</collision>
|
| 999 |
+
<visual>
|
| 1000 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1001 |
+
<geometry>
|
| 1002 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
|
| 1003 |
+
</geometry>
|
| 1004 |
+
<material name="grey">
|
| 1005 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 1006 |
+
</material>
|
| 1007 |
+
</visual>
|
| 1008 |
+
<inertial>
|
| 1009 |
+
<origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
|
| 1010 |
+
<mass value="0.068"/>
|
| 1011 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 1012 |
+
</inertial>
|
| 1013 |
+
</link>
|
| 1014 |
+
<!-- Left Joint 2 -->
|
| 1015 |
+
<joint name="gripper_r_joint4" type="revolute">
|
| 1016 |
+
<parent link="gripper_r_rh_p12_rn_l1"/>
|
| 1017 |
+
<child link="gripper_r_rh_p12_rn_l2"/>
|
| 1018 |
+
<origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
|
| 1019 |
+
<axis xyz="1 0 0"/>
|
| 1020 |
+
<limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
|
| 1021 |
+
<dynamics damping="0.7"/>
|
| 1022 |
+
<mimic joint="gripper_r_joint1" multiplier="1"/>
|
| 1023 |
+
</joint>
|
| 1024 |
+
<!-- rh_p12_rn_l2 -->
|
| 1025 |
+
<link name="gripper_r_rh_p12_rn_l2">
|
| 1026 |
+
<collision>
|
| 1027 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1028 |
+
<geometry>
|
| 1029 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
|
| 1030 |
+
</geometry>
|
| 1031 |
+
</collision>
|
| 1032 |
+
<visual>
|
| 1033 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1034 |
+
<geometry>
|
| 1035 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
|
| 1036 |
+
</geometry>
|
| 1037 |
+
<material name="grey">
|
| 1038 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 1039 |
+
</material>
|
| 1040 |
+
</visual>
|
| 1041 |
+
<inertial>
|
| 1042 |
+
<origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
|
| 1043 |
+
<mass value="0.022"/>
|
| 1044 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 1045 |
+
</inertial>
|
| 1046 |
+
</link>
|
| 1047 |
+
<joint name="end_effector_r_joint" type="fixed">
|
| 1048 |
+
<parent link="arm_r_link7"/>
|
| 1049 |
+
<child link="end_effector_r_link"/>
|
| 1050 |
+
<origin rpy="0 0 0" xyz="0 0 -0.215"/>
|
| 1051 |
+
</joint>
|
| 1052 |
+
<link name="end_effector_r_link">
|
| 1053 |
+
<visual>
|
| 1054 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1055 |
+
<geometry>
|
| 1056 |
+
<box size="0.01 0.01 0.01"/>
|
| 1057 |
+
</geometry>
|
| 1058 |
+
<material name="red">
|
| 1059 |
+
<color rgba="1.0 0.0 0.0 1"/>
|
| 1060 |
+
</material>
|
| 1061 |
+
</visual>
|
| 1062 |
+
</link>
|
| 1063 |
+
<joint name="left_wheel_steer" type="revolute">
|
| 1064 |
+
<parent link="base_link"/>
|
| 1065 |
+
<child link="left_wheel_steer_link"/>
|
| 1066 |
+
<origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
|
| 1067 |
+
<axis xyz="0 0 1"/>
|
| 1068 |
+
<limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
|
| 1069 |
+
</joint>
|
| 1070 |
+
<link name="left_wheel_steer_link">
|
| 1071 |
+
<visual>
|
| 1072 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1073 |
+
<geometry>
|
| 1074 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1075 |
+
</geometry>
|
| 1076 |
+
<material name="silver">
|
| 1077 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1078 |
+
</material>
|
| 1079 |
+
</visual>
|
| 1080 |
+
<collision>
|
| 1081 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1082 |
+
<geometry>
|
| 1083 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1084 |
+
</geometry>
|
| 1085 |
+
</collision>
|
| 1086 |
+
<inertial>
|
| 1087 |
+
<origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
|
| 1088 |
+
<mass value="7.550951000e-01"/>
|
| 1089 |
+
<inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
|
| 1090 |
+
</inertial>
|
| 1091 |
+
</link>
|
| 1092 |
+
<joint name="left_wheel_drive" type="continuous">
|
| 1093 |
+
<parent link="left_wheel_steer_link"/>
|
| 1094 |
+
<child link="left_wheel_drive_link"/>
|
| 1095 |
+
<origin rpy="0 0 0" xyz="0 0 -0.18905"/>
|
| 1096 |
+
<axis xyz="0 1 0"/>
|
| 1097 |
+
<limit effort="9999.0" velocity="9999.0"/>
|
| 1098 |
+
</joint>
|
| 1099 |
+
<link name="left_wheel_drive_link">
|
| 1100 |
+
<visual>
|
| 1101 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1102 |
+
<geometry>
|
| 1103 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1104 |
+
</geometry>
|
| 1105 |
+
<material name="silver">
|
| 1106 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1107 |
+
</material>
|
| 1108 |
+
</visual>
|
| 1109 |
+
<collision>
|
| 1110 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1111 |
+
<geometry>
|
| 1112 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1113 |
+
</geometry>
|
| 1114 |
+
</collision>
|
| 1115 |
+
<inertial>
|
| 1116 |
+
<origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
|
| 1117 |
+
<mass value="3.795460500e+00"/>
|
| 1118 |
+
<inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
|
| 1119 |
+
</inertial>
|
| 1120 |
+
</link>
|
| 1121 |
+
<joint name="right_wheel_steer" type="revolute">
|
| 1122 |
+
<parent link="base_link"/>
|
| 1123 |
+
<child link="right_wheel_steer_link"/>
|
| 1124 |
+
<origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
|
| 1125 |
+
<axis xyz="0 0 1"/>
|
| 1126 |
+
<limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
|
| 1127 |
+
</joint>
|
| 1128 |
+
<link name="right_wheel_steer_link">
|
| 1129 |
+
<visual>
|
| 1130 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1131 |
+
<geometry>
|
| 1132 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1133 |
+
</geometry>
|
| 1134 |
+
<material name="silver">
|
| 1135 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1136 |
+
</material>
|
| 1137 |
+
</visual>
|
| 1138 |
+
<collision>
|
| 1139 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1140 |
+
<geometry>
|
| 1141 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1142 |
+
</geometry>
|
| 1143 |
+
</collision>
|
| 1144 |
+
<inertial>
|
| 1145 |
+
<origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
|
| 1146 |
+
<mass value="7.550951000e-01"/>
|
| 1147 |
+
<inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
|
| 1148 |
+
</inertial>
|
| 1149 |
+
</link>
|
| 1150 |
+
<joint name="right_wheel_drive" type="continuous">
|
| 1151 |
+
<parent link="right_wheel_steer_link"/>
|
| 1152 |
+
<child link="right_wheel_drive_link"/>
|
| 1153 |
+
<origin rpy="0 0 0" xyz="0 0 -0.18905"/>
|
| 1154 |
+
<axis xyz="0 1 0"/>
|
| 1155 |
+
<limit effort="9999.0" velocity="9999.0"/>
|
| 1156 |
+
</joint>
|
| 1157 |
+
<link name="right_wheel_drive_link">
|
| 1158 |
+
<visual>
|
| 1159 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1160 |
+
<geometry>
|
| 1161 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1162 |
+
</geometry>
|
| 1163 |
+
<material name="silver">
|
| 1164 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1165 |
+
</material>
|
| 1166 |
+
</visual>
|
| 1167 |
+
<collision>
|
| 1168 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1169 |
+
<geometry>
|
| 1170 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1171 |
+
</geometry>
|
| 1172 |
+
</collision>
|
| 1173 |
+
<inertial>
|
| 1174 |
+
<origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
|
| 1175 |
+
<mass value="3.795460500e+00"/>
|
| 1176 |
+
<inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
|
| 1177 |
+
</inertial>
|
| 1178 |
+
</link>
|
| 1179 |
+
<joint name="rear_wheel_steer" type="revolute">
|
| 1180 |
+
<parent link="base_link"/>
|
| 1181 |
+
<child link="rear_wheel_steer_link"/>
|
| 1182 |
+
<origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
|
| 1183 |
+
<axis xyz="0 0 1"/>
|
| 1184 |
+
<limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
|
| 1185 |
+
</joint>
|
| 1186 |
+
<link name="rear_wheel_steer_link">
|
| 1187 |
+
<visual>
|
| 1188 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1189 |
+
<geometry>
|
| 1190 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1191 |
+
</geometry>
|
| 1192 |
+
<material name="silver">
|
| 1193 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1194 |
+
</material>
|
| 1195 |
+
</visual>
|
| 1196 |
+
<collision>
|
| 1197 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1198 |
+
<geometry>
|
| 1199 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1200 |
+
</geometry>
|
| 1201 |
+
</collision>
|
| 1202 |
+
<inertial>
|
| 1203 |
+
<origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
|
| 1204 |
+
<mass value="7.550951000e-01"/>
|
| 1205 |
+
<inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
|
| 1206 |
+
</inertial>
|
| 1207 |
+
</link>
|
| 1208 |
+
<joint name="rear_wheel_drive" type="continuous">
|
| 1209 |
+
<parent link="rear_wheel_steer_link"/>
|
| 1210 |
+
<child link="rear_wheel_drive_link"/>
|
| 1211 |
+
<origin rpy="0 0 0" xyz="0 0 -0.18905"/>
|
| 1212 |
+
<axis xyz="0 1 0"/>
|
| 1213 |
+
<limit effort="9999.0" velocity="9999.0"/>
|
| 1214 |
+
</joint>
|
| 1215 |
+
<link name="rear_wheel_drive_link">
|
| 1216 |
+
<visual>
|
| 1217 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1218 |
+
<geometry>
|
| 1219 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1220 |
+
</geometry>
|
| 1221 |
+
<material name="silver">
|
| 1222 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1223 |
+
</material>
|
| 1224 |
+
</visual>
|
| 1225 |
+
<collision>
|
| 1226 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1227 |
+
<geometry>
|
| 1228 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1229 |
+
</geometry>
|
| 1230 |
+
</collision>
|
| 1231 |
+
<inertial>
|
| 1232 |
+
<origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
|
| 1233 |
+
<mass value="3.795460500e+00"/>
|
| 1234 |
+
<inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
|
| 1235 |
+
</inertial>
|
| 1236 |
+
</link>
|
| 1237 |
+
</robot>
|
23/camera_info/cam_right_head.yaml
ADDED
|
@@ -0,0 +1,55 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
header:
|
| 2 |
+
frame_id: zed_right_camera_optical_frame
|
| 3 |
+
stamp:
|
| 4 |
+
sec: 1783068196
|
| 5 |
+
nanosec: 451774908
|
| 6 |
+
height: 720
|
| 7 |
+
width: 1280
|
| 8 |
+
distortion_model: plumb_bob
|
| 9 |
+
d:
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
- 0.0
|
| 13 |
+
- 0.0
|
| 14 |
+
- 0.0
|
| 15 |
+
k:
|
| 16 |
+
- 735.4571533203125
|
| 17 |
+
- 0.0
|
| 18 |
+
- 625.3748779296875
|
| 19 |
+
- 0.0
|
| 20 |
+
- 735.4571533203125
|
| 21 |
+
- 361.1747131347656
|
| 22 |
+
- 0.0
|
| 23 |
+
- 0.0
|
| 24 |
+
- 1.0
|
| 25 |
+
r:
|
| 26 |
+
- 1.0
|
| 27 |
+
- 0.0
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.0
|
| 30 |
+
- 1.0
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
p:
|
| 36 |
+
- 735.4571533203125
|
| 37 |
+
- 0.0
|
| 38 |
+
- 625.3748779296875
|
| 39 |
+
- -46.180625915527344
|
| 40 |
+
- 0.0
|
| 41 |
+
- 735.4571533203125
|
| 42 |
+
- 361.1747131347656
|
| 43 |
+
- 0.0
|
| 44 |
+
- 0.0
|
| 45 |
+
- 0.0
|
| 46 |
+
- 1.0
|
| 47 |
+
- 0.0
|
| 48 |
+
binning_x: 0
|
| 49 |
+
binning_y: 0
|
| 50 |
+
roi:
|
| 51 |
+
x_offset: 0
|
| 52 |
+
y_offset: 0
|
| 53 |
+
height: 0
|
| 54 |
+
width: 0
|
| 55 |
+
do_rectify: false
|
23/camera_info/camera_metadata.yaml
ADDED
|
@@ -0,0 +1,23 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
format_version: robotis_camera_metadata_v1
|
| 2 |
+
source: robot_config
|
| 3 |
+
cameras:
|
| 4 |
+
cam_left_head:
|
| 5 |
+
rotation_deg: 0
|
| 6 |
+
rotation_applied_at: record
|
| 7 |
+
image_topic: /zed/zed_node/left/image_rect_color/compressed
|
| 8 |
+
camera_info_topic: /zed/zed_node/left/camera_info
|
| 9 |
+
cam_left_wrist:
|
| 10 |
+
rotation_deg: 270
|
| 11 |
+
rotation_applied_at: record
|
| 12 |
+
image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
|
| 13 |
+
camera_info_topic: /camera_left/camera_left/color/camera_info
|
| 14 |
+
cam_right_head:
|
| 15 |
+
rotation_deg: 0
|
| 16 |
+
rotation_applied_at: record
|
| 17 |
+
image_topic: /zed/zed_node/right/image_rect_color/compressed
|
| 18 |
+
camera_info_topic: /zed/zed_node/right/camera_info
|
| 19 |
+
cam_right_wrist:
|
| 20 |
+
rotation_deg: 270
|
| 21 |
+
rotation_applied_at: record
|
| 22 |
+
image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
|
| 23 |
+
camera_info_topic: /camera_right/camera_right/color/camera_info
|
24/camera_info/cam_left_head.yaml
ADDED
|
@@ -0,0 +1,55 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
header:
|
| 2 |
+
frame_id: zed_left_camera_optical_frame
|
| 3 |
+
stamp:
|
| 4 |
+
sec: 1783068213
|
| 5 |
+
nanosec: 919123908
|
| 6 |
+
height: 720
|
| 7 |
+
width: 1280
|
| 8 |
+
distortion_model: plumb_bob
|
| 9 |
+
d:
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
- 0.0
|
| 13 |
+
- 0.0
|
| 14 |
+
- 0.0
|
| 15 |
+
k:
|
| 16 |
+
- 735.4571533203125
|
| 17 |
+
- 0.0
|
| 18 |
+
- 625.3748779296875
|
| 19 |
+
- 0.0
|
| 20 |
+
- 735.4571533203125
|
| 21 |
+
- 361.1747131347656
|
| 22 |
+
- 0.0
|
| 23 |
+
- 0.0
|
| 24 |
+
- 1.0
|
| 25 |
+
r:
|
| 26 |
+
- 1.0
|
| 27 |
+
- 0.0
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.0
|
| 30 |
+
- 1.0
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
p:
|
| 36 |
+
- 735.4571533203125
|
| 37 |
+
- 0.0
|
| 38 |
+
- 625.3748779296875
|
| 39 |
+
- 0.0
|
| 40 |
+
- 0.0
|
| 41 |
+
- 735.4571533203125
|
| 42 |
+
- 361.1747131347656
|
| 43 |
+
- 0.0
|
| 44 |
+
- 0.0
|
| 45 |
+
- 0.0
|
| 46 |
+
- 1.0
|
| 47 |
+
- 0.0
|
| 48 |
+
binning_x: 0
|
| 49 |
+
binning_y: 0
|
| 50 |
+
roi:
|
| 51 |
+
x_offset: 0
|
| 52 |
+
y_offset: 0
|
| 53 |
+
height: 0
|
| 54 |
+
width: 0
|
| 55 |
+
do_rectify: false
|
24/camera_info/cam_left_wrist.yaml
ADDED
|
@@ -0,0 +1,55 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
header:
|
| 2 |
+
frame_id: camera_left_color_optical_frame
|
| 3 |
+
stamp:
|
| 4 |
+
sec: 1783068213
|
| 5 |
+
nanosec: 905435303
|
| 6 |
+
height: 480
|
| 7 |
+
width: 640
|
| 8 |
+
distortion_model: plumb_bob
|
| 9 |
+
d:
|
| 10 |
+
- -0.05390038341283798
|
| 11 |
+
- 0.05999734625220299
|
| 12 |
+
- -0.0001955493789864704
|
| 13 |
+
- 0.00022923003416508436
|
| 14 |
+
- -0.020182626321911812
|
| 15 |
+
k:
|
| 16 |
+
- 392.8999938964844
|
| 17 |
+
- 0.0
|
| 18 |
+
- 322.5819091796875
|
| 19 |
+
- 0.0
|
| 20 |
+
- 392.46600341796875
|
| 21 |
+
- 241.36207580566406
|
| 22 |
+
- 0.0
|
| 23 |
+
- 0.0
|
| 24 |
+
- 1.0
|
| 25 |
+
r:
|
| 26 |
+
- 1.0
|
| 27 |
+
- 0.0
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.0
|
| 30 |
+
- 1.0
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
p:
|
| 36 |
+
- 392.8999938964844
|
| 37 |
+
- 0.0
|
| 38 |
+
- 322.5819091796875
|
| 39 |
+
- 0.0
|
| 40 |
+
- 0.0
|
| 41 |
+
- 392.46600341796875
|
| 42 |
+
- 241.36207580566406
|
| 43 |
+
- 0.0
|
| 44 |
+
- 0.0
|
| 45 |
+
- 0.0
|
| 46 |
+
- 1.0
|
| 47 |
+
- 0.0
|
| 48 |
+
binning_x: 0
|
| 49 |
+
binning_y: 0
|
| 50 |
+
roi:
|
| 51 |
+
x_offset: 0
|
| 52 |
+
y_offset: 0
|
| 53 |
+
height: 0
|
| 54 |
+
width: 0
|
| 55 |
+
do_rectify: false
|
24/camera_info/cam_right_head.yaml
ADDED
|
@@ -0,0 +1,55 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
header:
|
| 2 |
+
frame_id: zed_right_camera_optical_frame
|
| 3 |
+
stamp:
|
| 4 |
+
sec: 1783068213
|
| 5 |
+
nanosec: 919123908
|
| 6 |
+
height: 720
|
| 7 |
+
width: 1280
|
| 8 |
+
distortion_model: plumb_bob
|
| 9 |
+
d:
|
| 10 |
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- 0.0
|
| 11 |
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- 0.0
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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k:
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| 16 |
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- 735.4571533203125
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| 17 |
+
- 0.0
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| 18 |
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- 625.3748779296875
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| 19 |
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| 20 |
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- 735.4571533203125
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| 21 |
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- 361.1747131347656
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| 22 |
+
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| 23 |
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| 24 |
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- 1.0
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| 25 |
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r:
|
| 26 |
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- 1.0
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| 27 |
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|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.0
|
| 30 |
+
- 1.0
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
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- 1.0
|
| 35 |
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p:
|
| 36 |
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- 735.4571533203125
|
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- 0.0
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| 38 |
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- 625.3748779296875
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| 39 |
+
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| 40 |
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| 48 |
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binning_x: 0
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| 49 |
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binning_y: 0
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roi:
|
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x_offset: 0
|
| 52 |
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y_offset: 0
|
| 53 |
+
height: 0
|
| 54 |
+
width: 0
|
| 55 |
+
do_rectify: false
|
24/camera_info/cam_right_wrist.yaml
ADDED
|
@@ -0,0 +1,55 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
header:
|
| 2 |
+
frame_id: camera_right_color_optical_frame
|
| 3 |
+
stamp:
|
| 4 |
+
sec: 1783068213
|
| 5 |
+
nanosec: 893299316
|
| 6 |
+
height: 480
|
| 7 |
+
width: 640
|
| 8 |
+
distortion_model: plumb_bob
|
| 9 |
+
d:
|
| 10 |
+
- -0.05225568264722824
|
| 11 |
+
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|
| 12 |
+
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|
| 13 |
+
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|
| 14 |
+
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|
| 15 |
+
k:
|
| 16 |
+
- 391.7255859375
|
| 17 |
+
- 0.0
|
| 18 |
+
- 323.91400146484375
|
| 19 |
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- 0.0
|
| 20 |
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- 391.1866760253906
|
| 21 |
+
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|
| 22 |
+
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|
| 23 |
+
- 0.0
|
| 24 |
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- 1.0
|
| 25 |
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r:
|
| 26 |
+
- 1.0
|
| 27 |
+
- 0.0
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.0
|
| 30 |
+
- 1.0
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
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p:
|
| 36 |
+
- 391.7255859375
|
| 37 |
+
- 0.0
|
| 38 |
+
- 323.91400146484375
|
| 39 |
+
- 0.0
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| 40 |
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- 0.0
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| 41 |
+
- 391.1866760253906
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| 42 |
+
- 241.0968017578125
|
| 43 |
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| 44 |
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- 0.0
|
| 45 |
+
- 0.0
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| 46 |
+
- 1.0
|
| 47 |
+
- 0.0
|
| 48 |
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binning_x: 0
|
| 49 |
+
binning_y: 0
|
| 50 |
+
roi:
|
| 51 |
+
x_offset: 0
|
| 52 |
+
y_offset: 0
|
| 53 |
+
height: 0
|
| 54 |
+
width: 0
|
| 55 |
+
do_rectify: false
|
24/camera_info/camera_metadata.yaml
ADDED
|
@@ -0,0 +1,23 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
format_version: robotis_camera_metadata_v1
|
| 2 |
+
source: robot_config
|
| 3 |
+
cameras:
|
| 4 |
+
cam_left_head:
|
| 5 |
+
rotation_deg: 0
|
| 6 |
+
rotation_applied_at: record
|
| 7 |
+
image_topic: /zed/zed_node/left/image_rect_color/compressed
|
| 8 |
+
camera_info_topic: /zed/zed_node/left/camera_info
|
| 9 |
+
cam_left_wrist:
|
| 10 |
+
rotation_deg: 270
|
| 11 |
+
rotation_applied_at: record
|
| 12 |
+
image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
|
| 13 |
+
camera_info_topic: /camera_left/camera_left/color/camera_info
|
| 14 |
+
cam_right_head:
|
| 15 |
+
rotation_deg: 0
|
| 16 |
+
rotation_applied_at: record
|
| 17 |
+
image_topic: /zed/zed_node/right/image_rect_color/compressed
|
| 18 |
+
camera_info_topic: /zed/zed_node/right/camera_info
|
| 19 |
+
cam_right_wrist:
|
| 20 |
+
rotation_deg: 270
|
| 21 |
+
rotation_applied_at: record
|
| 22 |
+
image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
|
| 23 |
+
camera_info_topic: /camera_right/camera_right/color/camera_info
|
24/videos/24_0/cam_left_head_recorder_stats.json
ADDED
|
@@ -0,0 +1,43 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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|
| 11 |
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"frames_written": 205,
|
| 12 |
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"last_recv_ns": 1783068213995218683,
|
| 13 |
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| 14 |
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| 15 |
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|
| 16 |
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|
| 17 |
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| 18 |
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| 19 |
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| 20 |
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"max_raw_queue_bytes": 163771,
|
| 21 |
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"max_raw_queue_items": 1,
|
| 22 |
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"max_raw_write_ns": 6472261,
|
| 23 |
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"metadata_error": null,
|
| 24 |
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"mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/24/segments/0/videos/cam_left_head.mp4",
|
| 25 |
+
"name": "cam_left_head",
|
| 26 |
+
"pressure_warning_count": 0,
|
| 27 |
+
"raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/24/segments/0/videos/cam_left_head.mjpeg.tmp",
|
| 28 |
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"raw_queue_bytes_current": 0,
|
| 29 |
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"raw_write_error": null,
|
| 30 |
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"remux_duration_ns": 268426329,
|
| 31 |
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"remux_error": null,
|
| 32 |
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"remux_status": "done",
|
| 33 |
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"sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/24/segments/0/videos/cam_left_head_timestamps.parquet",
|
| 34 |
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"soft_callback_queue_bytes": 134217728,
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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"timestamp_warning_count": 0,
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| 42 |
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"topic": "/zed/zed_node/left/image_rect_color/compressed"
|
| 43 |
+
}
|
24/videos/24_0/cam_left_wrist_recorder_stats.json
ADDED
|
@@ -0,0 +1,43 @@
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
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|
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| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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|
| 16 |
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| 22 |
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|
| 23 |
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|
| 24 |
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"mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/24/segments/0/videos/cam_left_wrist.mp4",
|
| 25 |
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"name": "cam_left_wrist",
|
| 26 |
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|
| 27 |
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"raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/24/segments/0/videos/cam_left_wrist.mjpeg.tmp",
|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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"remux_status": "done",
|
| 33 |
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"sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/24/segments/0/videos/cam_left_wrist_timestamps.parquet",
|
| 34 |
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| 35 |
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| 36 |
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| 41 |
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| 42 |
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"topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
|
| 43 |
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}
|
24/videos/24_0/cam_right_head_recorder_stats.json
ADDED
|
@@ -0,0 +1,43 @@
|
|
|
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| 1 |
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{
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| 2 |
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|
| 3 |
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| 4 |
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|
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|
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|
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|
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|
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|
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|
| 25 |
+
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|
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|
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|
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|
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| 40 |
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"timestamp_past_warning_count": 0,
|
| 41 |
+
"timestamp_warning_count": 0,
|
| 42 |
+
"topic": "/zed/zed_node/right/image_rect_color/compressed"
|
| 43 |
+
}
|
24/videos/24_0/cam_right_wrist_recorder_stats.json
ADDED
|
@@ -0,0 +1,43 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"callback_queue_bytes_current": 0,
|
| 3 |
+
"diagnostics_mode": "summary",
|
| 4 |
+
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
+
"frames_metadata_written": 205,
|
| 9 |
+
"frames_received": 205,
|
| 10 |
+
"frames_remuxed": 205,
|
| 11 |
+
"frames_written": 205,
|
| 12 |
+
"last_recv_ns": 1783068213974590822,
|
| 13 |
+
"max_callback_queue_bytes": 73248,
|
| 14 |
+
"max_callback_queue_items": 1,
|
| 15 |
+
"max_enqueue_wait_ns": 17568,
|
| 16 |
+
"max_header_ahead_ns": 0,
|
| 17 |
+
"max_header_behind_ns": 0,
|
| 18 |
+
"max_metadata_flush_ns": 3002513,
|
| 19 |
+
"max_metadata_queue_items": 1,
|
| 20 |
+
"max_raw_queue_bytes": 73248,
|
| 21 |
+
"max_raw_queue_items": 1,
|
| 22 |
+
"max_raw_write_ns": 8921971,
|
| 23 |
+
"metadata_error": null,
|
| 24 |
+
"mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/24/segments/0/videos/cam_right_wrist.mp4",
|
| 25 |
+
"name": "cam_right_wrist",
|
| 26 |
+
"pressure_warning_count": 0,
|
| 27 |
+
"raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/24/segments/0/videos/cam_right_wrist.mjpeg.tmp",
|
| 28 |
+
"raw_queue_bytes_current": 0,
|
| 29 |
+
"raw_write_error": null,
|
| 30 |
+
"remux_duration_ns": 210920689,
|
| 31 |
+
"remux_error": null,
|
| 32 |
+
"remux_status": "done",
|
| 33 |
+
"sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/24/segments/0/videos/cam_right_wrist_timestamps.parquet",
|
| 34 |
+
"soft_callback_queue_bytes": 134217728,
|
| 35 |
+
"soft_callback_queue_frames": 256,
|
| 36 |
+
"soft_metadata_queue_rows": 16384,
|
| 37 |
+
"soft_raw_queue_bytes": 268435456,
|
| 38 |
+
"soft_raw_queue_frames": 256,
|
| 39 |
+
"timestamp_future_warning_count": 0,
|
| 40 |
+
"timestamp_past_warning_count": 0,
|
| 41 |
+
"timestamp_warning_count": 0,
|
| 42 |
+
"topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
|
| 43 |
+
}
|
29/camera_info/cam_left_head.yaml
ADDED
|
@@ -0,0 +1,55 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
header:
|
| 2 |
+
frame_id: zed_left_camera_optical_frame
|
| 3 |
+
stamp:
|
| 4 |
+
sec: 1783068304
|
| 5 |
+
nanosec: 56599908
|
| 6 |
+
height: 720
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| 7 |
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width: 1280
|
| 8 |
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distortion_model: plumb_bob
|
| 9 |
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| 10 |
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| 19 |
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| 26 |
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| 36 |
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| 39 |
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| 43 |
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binning_x: 0
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| 49 |
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binning_y: 0
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| 50 |
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roi:
|
| 51 |
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x_offset: 0
|
| 52 |
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y_offset: 0
|
| 53 |
+
height: 0
|
| 54 |
+
width: 0
|
| 55 |
+
do_rectify: false
|
29/camera_info/cam_left_wrist.yaml
ADDED
|
@@ -0,0 +1,55 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
header:
|
| 2 |
+
frame_id: camera_left_color_optical_frame
|
| 3 |
+
stamp:
|
| 4 |
+
sec: 1783068304
|
| 5 |
+
nanosec: 76357422
|
| 6 |
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height: 480
|
| 7 |
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width: 640
|
| 8 |
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distortion_model: plumb_bob
|
| 9 |
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| 10 |
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| 26 |
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| 27 |
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| 28 |
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| 36 |
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binning_x: 0
|
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binning_y: 0
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roi:
|
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x_offset: 0
|
| 52 |
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y_offset: 0
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height: 0
|
| 54 |
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width: 0
|
| 55 |
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do_rectify: false
|
29/camera_info/cam_right_head.yaml
ADDED
|
@@ -0,0 +1,55 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
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|
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|
|
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|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
header:
|
| 2 |
+
frame_id: zed_right_camera_optical_frame
|
| 3 |
+
stamp:
|
| 4 |
+
sec: 1783068304
|
| 5 |
+
nanosec: 56599908
|
| 6 |
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height: 720
|
| 7 |
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width: 1280
|
| 8 |
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distortion_model: plumb_bob
|
| 9 |
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binning_x: 0
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binning_y: 0
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x_offset: 0
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y_offset: 0
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height: 0
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width: 0
|
| 55 |
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do_rectify: false
|
29/camera_info/cam_right_wrist.yaml
ADDED
|
@@ -0,0 +1,55 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
header:
|
| 2 |
+
frame_id: camera_right_color_optical_frame
|
| 3 |
+
stamp:
|
| 4 |
+
sec: 1783068304
|
| 5 |
+
nanosec: 62951660
|
| 6 |
+
height: 480
|
| 7 |
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width: 640
|
| 8 |
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distortion_model: plumb_bob
|
| 9 |
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|
| 10 |
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| 12 |
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| 15 |
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| 16 |
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|
| 36 |
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| 48 |
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binning_x: 0
|
| 49 |
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binning_y: 0
|
| 50 |
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roi:
|
| 51 |
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x_offset: 0
|
| 52 |
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y_offset: 0
|
| 53 |
+
height: 0
|
| 54 |
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width: 0
|
| 55 |
+
do_rectify: false
|
29/camera_info/camera_metadata.yaml
ADDED
|
@@ -0,0 +1,23 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
format_version: robotis_camera_metadata_v1
|
| 2 |
+
source: robot_config
|
| 3 |
+
cameras:
|
| 4 |
+
cam_left_head:
|
| 5 |
+
rotation_deg: 0
|
| 6 |
+
rotation_applied_at: record
|
| 7 |
+
image_topic: /zed/zed_node/left/image_rect_color/compressed
|
| 8 |
+
camera_info_topic: /zed/zed_node/left/camera_info
|
| 9 |
+
cam_left_wrist:
|
| 10 |
+
rotation_deg: 270
|
| 11 |
+
rotation_applied_at: record
|
| 12 |
+
image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
|
| 13 |
+
camera_info_topic: /camera_left/camera_left/color/camera_info
|
| 14 |
+
cam_right_head:
|
| 15 |
+
rotation_deg: 0
|
| 16 |
+
rotation_applied_at: record
|
| 17 |
+
image_topic: /zed/zed_node/right/image_rect_color/compressed
|
| 18 |
+
camera_info_topic: /zed/zed_node/right/camera_info
|
| 19 |
+
cam_right_wrist:
|
| 20 |
+
rotation_deg: 270
|
| 21 |
+
rotation_applied_at: record
|
| 22 |
+
image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
|
| 23 |
+
camera_info_topic: /camera_right/camera_right/color/camera_info
|
29/videos/29_0/cam_left_head_recorder_stats.json
ADDED
|
@@ -0,0 +1,43 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
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| 11 |
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|
| 12 |
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| 13 |
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| 14 |
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| 16 |
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| 21 |
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| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
+
"name": "cam_left_head",
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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"remux_error": null,
|
| 32 |
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|
| 33 |
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"sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/29/segments/0/videos/cam_left_head_timestamps.parquet",
|
| 34 |
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|
| 35 |
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|
| 43 |
+
}
|
29/videos/29_0/cam_left_wrist_recorder_stats.json
ADDED
|
@@ -0,0 +1,43 @@
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|
|
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|
| 23 |
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| 24 |
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|
| 25 |
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"name": "cam_left_wrist",
|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 43 |
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}
|
29/videos/29_0/cam_right_head_recorder_stats.json
ADDED
|
@@ -0,0 +1,43 @@
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|
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|
| 25 |
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|
| 26 |
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}
|
29/videos/29_0/cam_right_wrist_recorder_stats.json
ADDED
|
@@ -0,0 +1,43 @@
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|
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| 1 |
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"mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/29/segments/0/videos/cam_right_wrist.mp4",
|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
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"topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
|
| 43 |
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}
|
3/episode_info.json
ADDED
|
@@ -0,0 +1,22 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task_instruction": "Move the left plate and the right plate to the center.",
|
| 3 |
+
"task_num": "999999",
|
| 4 |
+
"task_name": "ACT_test_JC",
|
| 5 |
+
"robot_type": "ffw_sg2_rev1",
|
| 6 |
+
"device_serial": "ffw-SNPR48A1107",
|
| 7 |
+
"episode_index": 3,
|
| 8 |
+
"timestamp": "2026-07-03T08:34:36Z",
|
| 9 |
+
"format_version": "robotis_v2",
|
| 10 |
+
"segments": [
|
| 11 |
+
{
|
| 12 |
+
"sub_task_instruction": "Move the left plate and the right plate to the center.",
|
| 13 |
+
"frame_duration": [
|
| 14 |
+
0.0,
|
| 15 |
+
12.941487192
|
| 16 |
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]
|
| 17 |
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}
|
| 18 |
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],
|
| 19 |
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"transcoding_status": "done",
|
| 20 |
+
"video_remux_status": "done",
|
| 21 |
+
"transcoding_cameras_failed": {}
|
| 22 |
+
}
|
3/metadata.yaml
ADDED
|
@@ -0,0 +1,78 @@
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
| 1 |
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rosbag2_bagfile_information:
|
| 2 |
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version: 9
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| 3 |
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storage_identifier: mcap
|
| 4 |
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duration:
|
| 5 |
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nanoseconds: 12941487192
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| 6 |
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starting_time:
|
| 7 |
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nanoseconds_since_epoch: 1783067663405187099
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| 8 |
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message_count: 11585
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| 9 |
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topics_with_message_count:
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| 10 |
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- topic_metadata:
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| 11 |
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name: /cmd_vel
|
| 12 |
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type: geometry_msgs/msg/Twist
|
| 13 |
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serialization_format: cdr
|
| 14 |
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offered_qos_profiles: []
|
| 15 |
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type_description_hash: ''
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| 16 |
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message_count: 1294
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| 17 |
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- topic_metadata:
|
| 18 |
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name: /joint_states
|
| 19 |
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type: sensor_msgs/msg/JointState
|
| 20 |
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serialization_format: cdr
|
| 21 |
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offered_qos_profiles: []
|
| 22 |
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type_description_hash: ''
|
| 23 |
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message_count: 1294
|
| 24 |
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- topic_metadata:
|
| 25 |
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name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
|
| 26 |
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type: trajectory_msgs/msg/JointTrajectory
|
| 27 |
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serialization_format: cdr
|
| 28 |
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offered_qos_profiles: []
|
| 29 |
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type_description_hash: ''
|
| 30 |
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message_count: 1294
|
| 31 |
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- topic_metadata:
|
| 32 |
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name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
|
| 33 |
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type: trajectory_msgs/msg/JointTrajectory
|
| 34 |
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serialization_format: cdr
|
| 35 |
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offered_qos_profiles: []
|
| 36 |
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type_description_hash: ''
|
| 37 |
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message_count: 1294
|
| 38 |
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- topic_metadata:
|
| 39 |
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name: /leader/joystick_controller_left/joint_trajectory
|
| 40 |
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type: trajectory_msgs/msg/JointTrajectory
|
| 41 |
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serialization_format: cdr
|
| 42 |
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offered_qos_profiles: []
|
| 43 |
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type_description_hash: ''
|
| 44 |
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message_count: 1294
|
| 45 |
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- topic_metadata:
|
| 46 |
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name: /leader/joystick_controller_right/joint_trajectory
|
| 47 |
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type: trajectory_msgs/msg/JointTrajectory
|
| 48 |
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serialization_format: cdr
|
| 49 |
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offered_qos_profiles: []
|
| 50 |
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type_description_hash: ''
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| 51 |
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message_count: 1294
|
| 52 |
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- topic_metadata:
|
| 53 |
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name: /odom
|
| 54 |
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type: nav_msgs/msg/Odometry
|
| 55 |
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serialization_format: cdr
|
| 56 |
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offered_qos_profiles: []
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| 57 |
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type_description_hash: ''
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| 58 |
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message_count: 1295
|
| 59 |
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- topic_metadata:
|
| 60 |
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name: /tf
|
| 61 |
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type: tf2_msgs/msg/TFMessage
|
| 62 |
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serialization_format: cdr
|
| 63 |
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offered_qos_profiles: []
|
| 64 |
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type_description_hash: ''
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| 65 |
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message_count: 2526
|
| 66 |
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compression_format: ''
|
| 67 |
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compression_mode: ''
|
| 68 |
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relative_file_paths:
|
| 69 |
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- 3_0.mcap
|
| 70 |
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files:
|
| 71 |
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- path: 3_0.mcap
|
| 72 |
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starting_time:
|
| 73 |
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nanoseconds_since_epoch: 1783067663405187099
|
| 74 |
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duration:
|
| 75 |
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nanoseconds: 12941487192
|
| 76 |
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message_count: 11585
|
| 77 |
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custom_data: null
|
| 78 |
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ros_distro: jazzy
|
3/robot.urdf
ADDED
|
@@ -0,0 +1,1237 @@
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|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<!-- =================================================================================== -->
|
| 3 |
+
<!-- | This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro | -->
|
| 4 |
+
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
| 5 |
+
<!-- =================================================================================== -->
|
| 6 |
+
<robot name="ffw_sg2_follower">
|
| 7 |
+
<link name="base_link">
|
| 8 |
+
<visual>
|
| 9 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 10 |
+
<geometry>
|
| 11 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
|
| 12 |
+
</geometry>
|
| 13 |
+
<material name="silver">
|
| 14 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 15 |
+
</material>
|
| 16 |
+
</visual>
|
| 17 |
+
<collision>
|
| 18 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 19 |
+
<geometry>
|
| 20 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
|
| 21 |
+
</geometry>
|
| 22 |
+
</collision>
|
| 23 |
+
<inertial>
|
| 24 |
+
<origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
|
| 25 |
+
<mass value="3.598943900e+01"/>
|
| 26 |
+
<inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
|
| 27 |
+
</inertial>
|
| 28 |
+
</link>
|
| 29 |
+
<joint name="lidar_l_joint" type="fixed">
|
| 30 |
+
<parent link="base_link"/>
|
| 31 |
+
<child link="lidar_l_link"/>
|
| 32 |
+
<origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
|
| 33 |
+
</joint>
|
| 34 |
+
<link name="lidar_l_link">
|
| 35 |
+
</link>
|
| 36 |
+
<joint name="lidar_r_joint" type="fixed">
|
| 37 |
+
<parent link="base_link"/>
|
| 38 |
+
<child link="lidar_r_link"/>
|
| 39 |
+
<origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
|
| 40 |
+
</joint>
|
| 41 |
+
<link name="lidar_r_link">
|
| 42 |
+
</link>
|
| 43 |
+
<joint name="imu_joint" type="fixed">
|
| 44 |
+
<parent link="base_link"/>
|
| 45 |
+
<child link="imu_link"/>
|
| 46 |
+
<origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
|
| 47 |
+
</joint>
|
| 48 |
+
<link name="imu_link">
|
| 49 |
+
</link>
|
| 50 |
+
<link name="lift_link">
|
| 51 |
+
<visual>
|
| 52 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 53 |
+
<geometry>
|
| 54 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
|
| 55 |
+
</geometry>
|
| 56 |
+
<material name="silver">
|
| 57 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 58 |
+
</material>
|
| 59 |
+
</visual>
|
| 60 |
+
<collision>
|
| 61 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 62 |
+
<geometry>
|
| 63 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
|
| 64 |
+
</geometry>
|
| 65 |
+
</collision>
|
| 66 |
+
<inertial>
|
| 67 |
+
<origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
|
| 68 |
+
<mass value="1.790000000e+01"/>
|
| 69 |
+
<inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
|
| 70 |
+
</inertial>
|
| 71 |
+
</link>
|
| 72 |
+
<joint name="lift_fixed_joint" type="fixed">
|
| 73 |
+
<parent link="base_link"/>
|
| 74 |
+
<child link="lift_link"/>
|
| 75 |
+
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
| 76 |
+
</joint>
|
| 77 |
+
<material name="aluminum">
|
| 78 |
+
<color rgba="0.5 0.5 0.5 1"/>
|
| 79 |
+
</material>
|
| 80 |
+
<material name="plastic">
|
| 81 |
+
<color rgba="0.1 0.1 0.1 1"/>
|
| 82 |
+
</material>
|
| 83 |
+
<joint name="lift_joint" type="prismatic">
|
| 84 |
+
<parent link="base_link"/>
|
| 85 |
+
<child link="arm_base_link"/>
|
| 86 |
+
<origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
|
| 87 |
+
<axis xyz="0 0 1"/>
|
| 88 |
+
<limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
|
| 89 |
+
<dynamics damping="0.1"/>
|
| 90 |
+
</joint>
|
| 91 |
+
<link name="arm_base_link">
|
| 92 |
+
<visual>
|
| 93 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 94 |
+
<geometry>
|
| 95 |
+
<mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
|
| 96 |
+
</geometry>
|
| 97 |
+
<material name="white">
|
| 98 |
+
<color rgba="1 1 1 1"/>
|
| 99 |
+
</material>
|
| 100 |
+
</visual>
|
| 101 |
+
<collision>
|
| 102 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 103 |
+
<geometry>
|
| 104 |
+
<mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
|
| 105 |
+
</geometry>
|
| 106 |
+
</collision>
|
| 107 |
+
<inertial>
|
| 108 |
+
<origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
|
| 109 |
+
<mass value="6.193955900e+00"/>
|
| 110 |
+
<inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
|
| 111 |
+
</inertial>
|
| 112 |
+
</link>
|
| 113 |
+
<joint name="head_joint1" type="revolute">
|
| 114 |
+
<parent link="arm_base_link"/>
|
| 115 |
+
<child link="head_link1"/>
|
| 116 |
+
<origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
|
| 117 |
+
<axis xyz="0 1 0"/>
|
| 118 |
+
<limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
|
| 119 |
+
<dynamics damping="0.1"/>
|
| 120 |
+
</joint>
|
| 121 |
+
<link name="head_link1">
|
| 122 |
+
<visual>
|
| 123 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 124 |
+
<geometry>
|
| 125 |
+
<mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
|
| 126 |
+
</geometry>
|
| 127 |
+
<material name="grey">
|
| 128 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 129 |
+
</material>
|
| 130 |
+
</visual>
|
| 131 |
+
<collision>
|
| 132 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 133 |
+
<geometry>
|
| 134 |
+
<mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
|
| 135 |
+
</geometry>
|
| 136 |
+
</collision>
|
| 137 |
+
<inertial>
|
| 138 |
+
<origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
|
| 139 |
+
<mass value="1.235180200e-01"/>
|
| 140 |
+
<inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
|
| 141 |
+
</inertial>
|
| 142 |
+
</link>
|
| 143 |
+
<joint name="head_joint2" type="revolute">
|
| 144 |
+
<parent link="head_link1"/>
|
| 145 |
+
<child link="head_link2"/>
|
| 146 |
+
<origin rpy="0 0 0" xyz="0.040 0 0.054"/>
|
| 147 |
+
<axis xyz="0 0 1"/>
|
| 148 |
+
<limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
|
| 149 |
+
<dynamics damping="0.1"/>
|
| 150 |
+
</joint>
|
| 151 |
+
<link name="head_link2">
|
| 152 |
+
<visual>
|
| 153 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 154 |
+
<geometry>
|
| 155 |
+
<mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
|
| 156 |
+
</geometry>
|
| 157 |
+
<material name="white">
|
| 158 |
+
<color rgba="1 1 1 1"/>
|
| 159 |
+
</material>
|
| 160 |
+
</visual>
|
| 161 |
+
<collision>
|
| 162 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 163 |
+
<geometry>
|
| 164 |
+
<mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
|
| 165 |
+
</geometry>
|
| 166 |
+
</collision>
|
| 167 |
+
<inertial>
|
| 168 |
+
<origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
|
| 169 |
+
<mass value="3.254213000e-01"/>
|
| 170 |
+
<inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
|
| 171 |
+
</inertial>
|
| 172 |
+
</link>
|
| 173 |
+
<link name="zedm_camera_link"/>
|
| 174 |
+
<link name="zedm_camera_center">
|
| 175 |
+
<visual>
|
| 176 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 177 |
+
<geometry>
|
| 178 |
+
<mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
|
| 179 |
+
</geometry>
|
| 180 |
+
<material name="zedm_mat">
|
| 181 |
+
<color rgba="0.25 0.25 0.25 1.0"/>
|
| 182 |
+
</material>
|
| 183 |
+
</visual>
|
| 184 |
+
<collision>
|
| 185 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 186 |
+
<geometry>
|
| 187 |
+
<mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
|
| 188 |
+
</geometry>
|
| 189 |
+
</collision>
|
| 190 |
+
</link>
|
| 191 |
+
<joint name="zedm_camera_center_joint" type="fixed">
|
| 192 |
+
<parent link="zedm_camera_link"/>
|
| 193 |
+
<child link="zedm_camera_center"/>
|
| 194 |
+
<origin rpy="0 0 0" xyz="0 0 0.01325"/>
|
| 195 |
+
</joint>
|
| 196 |
+
<link name="zedm_left_camera_frame"/>
|
| 197 |
+
<joint name="zedm_left_camera_joint" type="fixed">
|
| 198 |
+
<parent link="zedm_camera_center"/>
|
| 199 |
+
<child link="zedm_left_camera_frame"/>
|
| 200 |
+
<origin rpy="0 0 0" xyz="0 0.0315 0"/>
|
| 201 |
+
</joint>
|
| 202 |
+
<link name="zedm_left_camera_optical_frame"/>
|
| 203 |
+
<joint name="zedm_left_camera_optical_joint" type="fixed">
|
| 204 |
+
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
|
| 205 |
+
<parent link="zedm_left_camera_frame"/>
|
| 206 |
+
<child link="zedm_left_camera_optical_frame"/>
|
| 207 |
+
</joint>
|
| 208 |
+
<link name="zedm_right_camera_frame"/>
|
| 209 |
+
<joint name="zedm_right_camera_joint" type="fixed">
|
| 210 |
+
<parent link="zedm_camera_center"/>
|
| 211 |
+
<child link="zedm_right_camera_frame"/>
|
| 212 |
+
<origin rpy="0 0 0" xyz="0 -0.0315 0"/>
|
| 213 |
+
</joint>
|
| 214 |
+
<link name="zedm_right_camera_optical_frame"/>
|
| 215 |
+
<joint name="zedm_right_camera_optical_joint" type="fixed">
|
| 216 |
+
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
|
| 217 |
+
<parent link="zedm_right_camera_frame"/>
|
| 218 |
+
<child link="zedm_right_camera_optical_frame"/>
|
| 219 |
+
</joint>
|
| 220 |
+
<joint name="zedm_joint" type="fixed">
|
| 221 |
+
<parent link="head_link2"/>
|
| 222 |
+
<child link="zedm_camera_link"/>
|
| 223 |
+
<origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
|
| 224 |
+
</joint>
|
| 225 |
+
<joint name="arm_l_joint1" type="revolute">
|
| 226 |
+
<parent link="arm_base_link"/>
|
| 227 |
+
<child link="arm_l_link1"/>
|
| 228 |
+
<origin rpy="0 0 0" xyz="0 0.1045 0"/>
|
| 229 |
+
<axis xyz="0 1 0"/>
|
| 230 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 231 |
+
<dynamics damping="0.1"/>
|
| 232 |
+
</joint>
|
| 233 |
+
<link name="arm_l_link1">
|
| 234 |
+
<visual>
|
| 235 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 236 |
+
<geometry>
|
| 237 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
|
| 238 |
+
</geometry>
|
| 239 |
+
<material name="black">
|
| 240 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 241 |
+
</material>
|
| 242 |
+
</visual>
|
| 243 |
+
<collision>
|
| 244 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 245 |
+
<geometry>
|
| 246 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
|
| 247 |
+
</geometry>
|
| 248 |
+
</collision>
|
| 249 |
+
<inertial>
|
| 250 |
+
<origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
|
| 251 |
+
<mass value="2.001332200e+00"/>
|
| 252 |
+
<inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
|
| 253 |
+
</inertial>
|
| 254 |
+
</link>
|
| 255 |
+
<joint name="arm_l_joint2" type="revolute">
|
| 256 |
+
<parent link="arm_l_link1"/>
|
| 257 |
+
<child link="arm_l_link2"/>
|
| 258 |
+
<origin rpy="0 0 0" xyz="0 0.123 0"/>
|
| 259 |
+
<axis xyz="1 0 0"/>
|
| 260 |
+
<limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
|
| 261 |
+
<dynamics damping="0.1"/>
|
| 262 |
+
</joint>
|
| 263 |
+
<link name="arm_l_link2">
|
| 264 |
+
<visual>
|
| 265 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 266 |
+
<geometry>
|
| 267 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
|
| 268 |
+
</geometry>
|
| 269 |
+
<material name="black">
|
| 270 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 271 |
+
</material>
|
| 272 |
+
</visual>
|
| 273 |
+
<collision>
|
| 274 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 275 |
+
<geometry>
|
| 276 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
|
| 277 |
+
</geometry>
|
| 278 |
+
</collision>
|
| 279 |
+
<inertial>
|
| 280 |
+
<origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
|
| 281 |
+
<mass value="2.128261000e+00"/>
|
| 282 |
+
<inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
|
| 283 |
+
</inertial>
|
| 284 |
+
</link>
|
| 285 |
+
<joint name="arm_l_joint3" type="revolute">
|
| 286 |
+
<parent link="arm_l_link2"/>
|
| 287 |
+
<child link="arm_l_link3"/>
|
| 288 |
+
<origin rpy="0 0 0" xyz="0 0 -0.165"/>
|
| 289 |
+
<axis xyz="0 0 1"/>
|
| 290 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 291 |
+
<dynamics damping="0.1"/>
|
| 292 |
+
</joint>
|
| 293 |
+
<link name="arm_l_link3">
|
| 294 |
+
<visual>
|
| 295 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 296 |
+
<geometry>
|
| 297 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
|
| 298 |
+
</geometry>
|
| 299 |
+
<material name="black">
|
| 300 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 301 |
+
</material>
|
| 302 |
+
</visual>
|
| 303 |
+
<collision>
|
| 304 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 305 |
+
<geometry>
|
| 306 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
|
| 307 |
+
</geometry>
|
| 308 |
+
</collision>
|
| 309 |
+
<inertial>
|
| 310 |
+
<origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
|
| 311 |
+
<mass value="1.684755100e+00"/>
|
| 312 |
+
<inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
|
| 313 |
+
</inertial>
|
| 314 |
+
</link>
|
| 315 |
+
<joint name="arm_l_joint4" type="revolute">
|
| 316 |
+
<parent link="arm_l_link3"/>
|
| 317 |
+
<child link="arm_l_link4"/>
|
| 318 |
+
<origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
|
| 319 |
+
<axis xyz="0 1 0"/>
|
| 320 |
+
<limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
|
| 321 |
+
<dynamics damping="0.1"/>
|
| 322 |
+
</joint>
|
| 323 |
+
<link name="arm_l_link4">
|
| 324 |
+
<visual>
|
| 325 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 326 |
+
<geometry>
|
| 327 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
|
| 328 |
+
</geometry>
|
| 329 |
+
<material name="black">
|
| 330 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 331 |
+
</material>
|
| 332 |
+
</visual>
|
| 333 |
+
<collision>
|
| 334 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 335 |
+
<geometry>
|
| 336 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
|
| 337 |
+
</geometry>
|
| 338 |
+
</collision>
|
| 339 |
+
<inertial>
|
| 340 |
+
<origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
|
| 341 |
+
<mass value="1.508214400e+00"/>
|
| 342 |
+
<inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
|
| 343 |
+
</inertial>
|
| 344 |
+
</link>
|
| 345 |
+
<joint name="arm_l_joint5" type="revolute">
|
| 346 |
+
<parent link="arm_l_link4"/>
|
| 347 |
+
<child link="arm_l_link5"/>
|
| 348 |
+
<origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
|
| 349 |
+
<axis xyz="0 0 1"/>
|
| 350 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 351 |
+
<dynamics damping="0.1"/>
|
| 352 |
+
</joint>
|
| 353 |
+
<link name="arm_l_link5">
|
| 354 |
+
<visual>
|
| 355 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 356 |
+
<geometry>
|
| 357 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
|
| 358 |
+
</geometry>
|
| 359 |
+
<material name="black">
|
| 360 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 361 |
+
</material>
|
| 362 |
+
</visual>
|
| 363 |
+
<collision>
|
| 364 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 365 |
+
<geometry>
|
| 366 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
|
| 367 |
+
</geometry>
|
| 368 |
+
</collision>
|
| 369 |
+
<inertial>
|
| 370 |
+
<origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
|
| 371 |
+
<mass value="1.391783100e+00"/>
|
| 372 |
+
<inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
|
| 373 |
+
</inertial>
|
| 374 |
+
</link>
|
| 375 |
+
<joint name="arm_l_joint6" type="revolute">
|
| 376 |
+
<parent link="arm_l_link5"/>
|
| 377 |
+
<child link="arm_l_link6"/>
|
| 378 |
+
<origin rpy="0 0 0" xyz="0 0 -0.1041"/>
|
| 379 |
+
<axis xyz="0 1 0"/>
|
| 380 |
+
<limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
|
| 381 |
+
<dynamics damping="0.1"/>
|
| 382 |
+
</joint>
|
| 383 |
+
<link name="arm_l_link6">
|
| 384 |
+
<visual>
|
| 385 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 386 |
+
<geometry>
|
| 387 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
|
| 388 |
+
</geometry>
|
| 389 |
+
<material name="black">
|
| 390 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 391 |
+
</material>
|
| 392 |
+
</visual>
|
| 393 |
+
<collision>
|
| 394 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 395 |
+
<geometry>
|
| 396 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
|
| 397 |
+
</geometry>
|
| 398 |
+
</collision>
|
| 399 |
+
<inertial>
|
| 400 |
+
<origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
|
| 401 |
+
<mass value="6.577074100e-01"/>
|
| 402 |
+
<inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
|
| 403 |
+
</inertial>
|
| 404 |
+
</link>
|
| 405 |
+
<joint name="arm_l_joint7" type="revolute">
|
| 406 |
+
<parent link="arm_l_link6"/>
|
| 407 |
+
<child link="arm_l_link7"/>
|
| 408 |
+
<origin rpy="0 0 0" xyz="0 0 -0.0885"/>
|
| 409 |
+
<axis xyz="1 0 0"/>
|
| 410 |
+
<limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
|
| 411 |
+
<dynamics damping="0.1"/>
|
| 412 |
+
</joint>
|
| 413 |
+
<link name="arm_l_link7">
|
| 414 |
+
<visual>
|
| 415 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 416 |
+
<geometry>
|
| 417 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
|
| 418 |
+
</geometry>
|
| 419 |
+
<material name="black">
|
| 420 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 421 |
+
</material>
|
| 422 |
+
</visual>
|
| 423 |
+
<collision>
|
| 424 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 425 |
+
<geometry>
|
| 426 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
|
| 427 |
+
</geometry>
|
| 428 |
+
</collision>
|
| 429 |
+
<inertial>
|
| 430 |
+
<origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
|
| 431 |
+
<mass value="1.668563000e-01"/>
|
| 432 |
+
<inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
|
| 433 |
+
</inertial>
|
| 434 |
+
</link>
|
| 435 |
+
<!-- camera body, with origin at bottom screw mount -->
|
| 436 |
+
<joint name="camera_l_joint" type="fixed">
|
| 437 |
+
<origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
|
| 438 |
+
<parent link="arm_l_link7"/>
|
| 439 |
+
<child link="camera_l_bottom_screw_frame"/>
|
| 440 |
+
</joint>
|
| 441 |
+
<link name="camera_l_bottom_screw_frame"/>
|
| 442 |
+
<joint name="camera_l_link_joint" type="fixed">
|
| 443 |
+
<origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
|
| 444 |
+
<parent link="camera_l_bottom_screw_frame"/>
|
| 445 |
+
<child link="camera_l_link"/>
|
| 446 |
+
</joint>
|
| 447 |
+
<link name="camera_l_link">
|
| 448 |
+
<visual>
|
| 449 |
+
<!-- the mesh origin is at front plate in between the two infrared camera axes -->
|
| 450 |
+
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
|
| 451 |
+
<geometry>
|
| 452 |
+
<mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
|
| 453 |
+
</geometry>
|
| 454 |
+
<material name="aluminum"/>
|
| 455 |
+
</visual>
|
| 456 |
+
<collision>
|
| 457 |
+
<origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
|
| 458 |
+
<geometry>
|
| 459 |
+
<box size="0.023 0.042 0.042"/>
|
| 460 |
+
</geometry>
|
| 461 |
+
</collision>
|
| 462 |
+
<inertial>
|
| 463 |
+
<!-- The following are not reliable values, and should not be used for modeling -->
|
| 464 |
+
<mass value="0.072"/>
|
| 465 |
+
<origin xyz="0 0 0"/>
|
| 466 |
+
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
|
| 467 |
+
</inertial>
|
| 468 |
+
</link>
|
| 469 |
+
<joint name="arm_r_joint1" type="revolute">
|
| 470 |
+
<parent link="arm_base_link"/>
|
| 471 |
+
<child link="arm_r_link1"/>
|
| 472 |
+
<origin rpy="0 0 0" xyz="0 -0.1045 0"/>
|
| 473 |
+
<axis xyz="0 1 0"/>
|
| 474 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 475 |
+
<dynamics damping="0.1"/>
|
| 476 |
+
</joint>
|
| 477 |
+
<link name="arm_r_link1">
|
| 478 |
+
<visual>
|
| 479 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 480 |
+
<geometry>
|
| 481 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
|
| 482 |
+
</geometry>
|
| 483 |
+
<material name="black">
|
| 484 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 485 |
+
</material>
|
| 486 |
+
</visual>
|
| 487 |
+
<collision>
|
| 488 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 489 |
+
<geometry>
|
| 490 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
|
| 491 |
+
</geometry>
|
| 492 |
+
</collision>
|
| 493 |
+
<inertial>
|
| 494 |
+
<origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
|
| 495 |
+
<mass value="2.001332200e+00"/>
|
| 496 |
+
<inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
|
| 497 |
+
</inertial>
|
| 498 |
+
</link>
|
| 499 |
+
<joint name="arm_r_joint2" type="revolute">
|
| 500 |
+
<parent link="arm_r_link1"/>
|
| 501 |
+
<child link="arm_r_link2"/>
|
| 502 |
+
<origin rpy="0 0 0" xyz="0 -0.123 0"/>
|
| 503 |
+
<axis xyz="1 0 0"/>
|
| 504 |
+
<limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
|
| 505 |
+
<dynamics damping="0.1"/>
|
| 506 |
+
</joint>
|
| 507 |
+
<link name="arm_r_link2">
|
| 508 |
+
<visual>
|
| 509 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 510 |
+
<geometry>
|
| 511 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
|
| 512 |
+
</geometry>
|
| 513 |
+
<material name="black">
|
| 514 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 515 |
+
</material>
|
| 516 |
+
</visual>
|
| 517 |
+
<collision>
|
| 518 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 519 |
+
<geometry>
|
| 520 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
|
| 521 |
+
</geometry>
|
| 522 |
+
</collision>
|
| 523 |
+
<inertial>
|
| 524 |
+
<origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
|
| 525 |
+
<mass value="2.128261000e+00"/>
|
| 526 |
+
<inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
|
| 527 |
+
</inertial>
|
| 528 |
+
</link>
|
| 529 |
+
<joint name="arm_r_joint3" type="revolute">
|
| 530 |
+
<parent link="arm_r_link2"/>
|
| 531 |
+
<child link="arm_r_link3"/>
|
| 532 |
+
<origin rpy="0 0 0" xyz="0 0 -0.165"/>
|
| 533 |
+
<axis xyz="0 0 1"/>
|
| 534 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 535 |
+
<dynamics damping="0.1"/>
|
| 536 |
+
</joint>
|
| 537 |
+
<link name="arm_r_link3">
|
| 538 |
+
<visual>
|
| 539 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 540 |
+
<geometry>
|
| 541 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
|
| 542 |
+
</geometry>
|
| 543 |
+
<material name="black">
|
| 544 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 545 |
+
</material>
|
| 546 |
+
</visual>
|
| 547 |
+
<collision>
|
| 548 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 549 |
+
<geometry>
|
| 550 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
|
| 551 |
+
</geometry>
|
| 552 |
+
</collision>
|
| 553 |
+
<inertial>
|
| 554 |
+
<origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
|
| 555 |
+
<mass value="1.684755100e+00"/>
|
| 556 |
+
<inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
|
| 557 |
+
</inertial>
|
| 558 |
+
</link>
|
| 559 |
+
<joint name="arm_r_joint4" type="revolute">
|
| 560 |
+
<parent link="arm_r_link3"/>
|
| 561 |
+
<child link="arm_r_link4"/>
|
| 562 |
+
<origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
|
| 563 |
+
<axis xyz="0 1 0"/>
|
| 564 |
+
<limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
|
| 565 |
+
<dynamics damping="0.1"/>
|
| 566 |
+
</joint>
|
| 567 |
+
<link name="arm_r_link4">
|
| 568 |
+
<visual>
|
| 569 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 570 |
+
<geometry>
|
| 571 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
|
| 572 |
+
</geometry>
|
| 573 |
+
<material name="black">
|
| 574 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 575 |
+
</material>
|
| 576 |
+
</visual>
|
| 577 |
+
<collision>
|
| 578 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 579 |
+
<geometry>
|
| 580 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
|
| 581 |
+
</geometry>
|
| 582 |
+
</collision>
|
| 583 |
+
<inertial>
|
| 584 |
+
<origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
|
| 585 |
+
<mass value="1.494251100e+00"/>
|
| 586 |
+
<inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
|
| 587 |
+
</inertial>
|
| 588 |
+
</link>
|
| 589 |
+
<joint name="arm_r_joint5" type="revolute">
|
| 590 |
+
<parent link="arm_r_link4"/>
|
| 591 |
+
<child link="arm_r_link5"/>
|
| 592 |
+
<origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
|
| 593 |
+
<axis xyz="0 0 1"/>
|
| 594 |
+
<limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
|
| 595 |
+
<dynamics damping="0.1"/>
|
| 596 |
+
</joint>
|
| 597 |
+
<link name="arm_r_link5">
|
| 598 |
+
<visual>
|
| 599 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 600 |
+
<geometry>
|
| 601 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
|
| 602 |
+
</geometry>
|
| 603 |
+
<material name="black">
|
| 604 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 605 |
+
</material>
|
| 606 |
+
</visual>
|
| 607 |
+
<collision>
|
| 608 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 609 |
+
<geometry>
|
| 610 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
|
| 611 |
+
</geometry>
|
| 612 |
+
</collision>
|
| 613 |
+
<inertial>
|
| 614 |
+
<origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
|
| 615 |
+
<mass value="1.391783100e+00"/>
|
| 616 |
+
<inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
|
| 617 |
+
</inertial>
|
| 618 |
+
</link>
|
| 619 |
+
<joint name="arm_r_joint6" type="revolute">
|
| 620 |
+
<parent link="arm_r_link5"/>
|
| 621 |
+
<child link="arm_r_link6"/>
|
| 622 |
+
<origin rpy="0 0 0" xyz="0 0 -0.1041"/>
|
| 623 |
+
<axis xyz="0 1 0"/>
|
| 624 |
+
<limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
|
| 625 |
+
<dynamics damping="0.1"/>
|
| 626 |
+
</joint>
|
| 627 |
+
<link name="arm_r_link6">
|
| 628 |
+
<visual>
|
| 629 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 630 |
+
<geometry>
|
| 631 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
|
| 632 |
+
</geometry>
|
| 633 |
+
<material name="black">
|
| 634 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 635 |
+
</material>
|
| 636 |
+
</visual>
|
| 637 |
+
<collision>
|
| 638 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 639 |
+
<geometry>
|
| 640 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
|
| 641 |
+
</geometry>
|
| 642 |
+
</collision>
|
| 643 |
+
<inertial>
|
| 644 |
+
<origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
|
| 645 |
+
<mass value="6.577074100e-01"/>
|
| 646 |
+
<inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
|
| 647 |
+
</inertial>
|
| 648 |
+
</link>
|
| 649 |
+
<joint name="arm_r_joint7" type="revolute">
|
| 650 |
+
<parent link="arm_r_link6"/>
|
| 651 |
+
<child link="arm_r_link7"/>
|
| 652 |
+
<origin rpy="0 0 0" xyz="0 0 -0.0885"/>
|
| 653 |
+
<axis xyz="1 0 0"/>
|
| 654 |
+
<limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
|
| 655 |
+
<dynamics damping="0.1"/>
|
| 656 |
+
</joint>
|
| 657 |
+
<link name="arm_r_link7">
|
| 658 |
+
<visual>
|
| 659 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 660 |
+
<geometry>
|
| 661 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
|
| 662 |
+
</geometry>
|
| 663 |
+
<material name="black">
|
| 664 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 665 |
+
</material>
|
| 666 |
+
</visual>
|
| 667 |
+
<collision>
|
| 668 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 669 |
+
<geometry>
|
| 670 |
+
<mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
|
| 671 |
+
</geometry>
|
| 672 |
+
</collision>
|
| 673 |
+
<inertial>
|
| 674 |
+
<origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
|
| 675 |
+
<mass value="1.668563000e-01"/>
|
| 676 |
+
<inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
|
| 677 |
+
</inertial>
|
| 678 |
+
</link>
|
| 679 |
+
<!-- camera body, with origin at bottom screw mount -->
|
| 680 |
+
<joint name="camera_r_joint" type="fixed">
|
| 681 |
+
<origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
|
| 682 |
+
<parent link="arm_r_link7"/>
|
| 683 |
+
<child link="camera_r_bottom_screw_frame"/>
|
| 684 |
+
</joint>
|
| 685 |
+
<link name="camera_r_bottom_screw_frame"/>
|
| 686 |
+
<joint name="camera_r_link_joint" type="fixed">
|
| 687 |
+
<origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
|
| 688 |
+
<parent link="camera_r_bottom_screw_frame"/>
|
| 689 |
+
<child link="camera_r_link"/>
|
| 690 |
+
</joint>
|
| 691 |
+
<link name="camera_r_link">
|
| 692 |
+
<visual>
|
| 693 |
+
<!-- the mesh origin is at front plate in between the two infrared camera axes -->
|
| 694 |
+
<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
|
| 695 |
+
<geometry>
|
| 696 |
+
<mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
|
| 697 |
+
</geometry>
|
| 698 |
+
<material name="aluminum"/>
|
| 699 |
+
</visual>
|
| 700 |
+
<collision>
|
| 701 |
+
<origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
|
| 702 |
+
<geometry>
|
| 703 |
+
<box size="0.023 0.042 0.042"/>
|
| 704 |
+
</geometry>
|
| 705 |
+
</collision>
|
| 706 |
+
<inertial>
|
| 707 |
+
<!-- The following are not reliable values, and should not be used for modeling -->
|
| 708 |
+
<mass value="0.072"/>
|
| 709 |
+
<origin xyz="0 0 0"/>
|
| 710 |
+
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
|
| 711 |
+
</inertial>
|
| 712 |
+
</link>
|
| 713 |
+
<joint name="gripper_l_joint" type="fixed">
|
| 714 |
+
<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
|
| 715 |
+
<parent link="arm_l_link7"/>
|
| 716 |
+
<child link="gripper_l_rh_p12_rn_base"/>
|
| 717 |
+
</joint>
|
| 718 |
+
<!-- base -->
|
| 719 |
+
<link name="gripper_l_rh_p12_rn_base">
|
| 720 |
+
<collision>
|
| 721 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 722 |
+
<geometry>
|
| 723 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
|
| 724 |
+
</geometry>
|
| 725 |
+
</collision>
|
| 726 |
+
<visual>
|
| 727 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 728 |
+
<geometry>
|
| 729 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
|
| 730 |
+
</geometry>
|
| 731 |
+
<material name="grey">
|
| 732 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 733 |
+
</material>
|
| 734 |
+
</visual>
|
| 735 |
+
<inertial>
|
| 736 |
+
<origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
|
| 737 |
+
<mass value="0.236"/>
|
| 738 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 739 |
+
</inertial>
|
| 740 |
+
</link>
|
| 741 |
+
<!-- Joint -->
|
| 742 |
+
<joint name="gripper_l_joint1" type="revolute">
|
| 743 |
+
<parent link="gripper_l_rh_p12_rn_base"/>
|
| 744 |
+
<child link="gripper_l_rh_p12_rn_r1"/>
|
| 745 |
+
<origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
|
| 746 |
+
<axis xyz="1 0 0"/>
|
| 747 |
+
<limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
|
| 748 |
+
<dynamics damping="0.7"/>
|
| 749 |
+
</joint>
|
| 750 |
+
<!-- rh_p12_rn_r1 -->
|
| 751 |
+
<link name="gripper_l_rh_p12_rn_r1">
|
| 752 |
+
<collision>
|
| 753 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 754 |
+
<geometry>
|
| 755 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
|
| 756 |
+
</geometry>
|
| 757 |
+
</collision>
|
| 758 |
+
<visual>
|
| 759 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 760 |
+
<geometry>
|
| 761 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
|
| 762 |
+
</geometry>
|
| 763 |
+
<material name="grey">
|
| 764 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 765 |
+
</material>
|
| 766 |
+
</visual>
|
| 767 |
+
<inertial>
|
| 768 |
+
<origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
|
| 769 |
+
<mass value="0.068"/>
|
| 770 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 771 |
+
</inertial>
|
| 772 |
+
</link>
|
| 773 |
+
<!-- Right Joint 2 -->
|
| 774 |
+
<joint name="gripper_l_joint2" type="revolute">
|
| 775 |
+
<parent link="gripper_l_rh_p12_rn_r1"/>
|
| 776 |
+
<child link="gripper_l_rh_p12_rn_r2"/>
|
| 777 |
+
<origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
|
| 778 |
+
<axis xyz="-1 0 0"/>
|
| 779 |
+
<limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
|
| 780 |
+
<dynamics damping="0.7"/>
|
| 781 |
+
<mimic joint="gripper_l_joint1" multiplier="1"/>
|
| 782 |
+
</joint>
|
| 783 |
+
<!-- rh_p12_rn_r2 -->
|
| 784 |
+
<link name="gripper_l_rh_p12_rn_r2">
|
| 785 |
+
<collision>
|
| 786 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 787 |
+
<geometry>
|
| 788 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
|
| 789 |
+
</geometry>
|
| 790 |
+
</collision>
|
| 791 |
+
<visual>
|
| 792 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 793 |
+
<geometry>
|
| 794 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
|
| 795 |
+
</geometry>
|
| 796 |
+
<material name="grey">
|
| 797 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 798 |
+
</material>
|
| 799 |
+
</visual>
|
| 800 |
+
<inertial>
|
| 801 |
+
<origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
|
| 802 |
+
<mass value="0.022"/>
|
| 803 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 804 |
+
</inertial>
|
| 805 |
+
</link>
|
| 806 |
+
<!-- Left Joint 1 -->
|
| 807 |
+
<joint name="gripper_l_joint3" type="revolute">
|
| 808 |
+
<parent link="gripper_l_rh_p12_rn_base"/>
|
| 809 |
+
<child link="gripper_l_rh_p12_rn_l1"/>
|
| 810 |
+
<origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
|
| 811 |
+
<axis xyz="-1 0 0"/>
|
| 812 |
+
<limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
|
| 813 |
+
<dynamics damping="0.7"/>
|
| 814 |
+
<mimic joint="gripper_l_joint1" multiplier="1"/>
|
| 815 |
+
</joint>
|
| 816 |
+
<!-- rh_p12_rn_l1 -->
|
| 817 |
+
<link name="gripper_l_rh_p12_rn_l1">
|
| 818 |
+
<collision>
|
| 819 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 820 |
+
<geometry>
|
| 821 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
|
| 822 |
+
</geometry>
|
| 823 |
+
</collision>
|
| 824 |
+
<visual>
|
| 825 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 826 |
+
<geometry>
|
| 827 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
|
| 828 |
+
</geometry>
|
| 829 |
+
<material name="grey">
|
| 830 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 831 |
+
</material>
|
| 832 |
+
</visual>
|
| 833 |
+
<inertial>
|
| 834 |
+
<origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
|
| 835 |
+
<mass value="0.068"/>
|
| 836 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 837 |
+
</inertial>
|
| 838 |
+
</link>
|
| 839 |
+
<!-- Left Joint 2 -->
|
| 840 |
+
<joint name="gripper_l_joint4" type="revolute">
|
| 841 |
+
<parent link="gripper_l_rh_p12_rn_l1"/>
|
| 842 |
+
<child link="gripper_l_rh_p12_rn_l2"/>
|
| 843 |
+
<origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
|
| 844 |
+
<axis xyz="1 0 0"/>
|
| 845 |
+
<limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
|
| 846 |
+
<dynamics damping="0.7"/>
|
| 847 |
+
<mimic joint="gripper_l_joint1" multiplier="1"/>
|
| 848 |
+
</joint>
|
| 849 |
+
<!-- rh_p12_rn_l2 -->
|
| 850 |
+
<link name="gripper_l_rh_p12_rn_l2">
|
| 851 |
+
<collision>
|
| 852 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 853 |
+
<geometry>
|
| 854 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
|
| 855 |
+
</geometry>
|
| 856 |
+
</collision>
|
| 857 |
+
<visual>
|
| 858 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 859 |
+
<geometry>
|
| 860 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
|
| 861 |
+
</geometry>
|
| 862 |
+
<material name="grey">
|
| 863 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 864 |
+
</material>
|
| 865 |
+
</visual>
|
| 866 |
+
<inertial>
|
| 867 |
+
<origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
|
| 868 |
+
<mass value="0.022"/>
|
| 869 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 870 |
+
</inertial>
|
| 871 |
+
</link>
|
| 872 |
+
<joint name="end_effector_l_joint" type="fixed">
|
| 873 |
+
<parent link="arm_l_link7"/>
|
| 874 |
+
<child link="end_effector_l_link"/>
|
| 875 |
+
<origin rpy="0 0 0" xyz="0 0 -0.215"/>
|
| 876 |
+
</joint>
|
| 877 |
+
<link name="end_effector_l_link">
|
| 878 |
+
<visual>
|
| 879 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 880 |
+
<geometry>
|
| 881 |
+
<box size="0.01 0.01 0.01"/>
|
| 882 |
+
</geometry>
|
| 883 |
+
<material name="red">
|
| 884 |
+
<color rgba="1.0 0.0 0.0 1"/>
|
| 885 |
+
</material>
|
| 886 |
+
</visual>
|
| 887 |
+
</link>
|
| 888 |
+
<joint name="gripper_r_joint" type="fixed">
|
| 889 |
+
<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
|
| 890 |
+
<parent link="arm_r_link7"/>
|
| 891 |
+
<child link="gripper_r_rh_p12_rn_base"/>
|
| 892 |
+
</joint>
|
| 893 |
+
<!-- base -->
|
| 894 |
+
<link name="gripper_r_rh_p12_rn_base">
|
| 895 |
+
<collision>
|
| 896 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 897 |
+
<geometry>
|
| 898 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
|
| 899 |
+
</geometry>
|
| 900 |
+
</collision>
|
| 901 |
+
<visual>
|
| 902 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 903 |
+
<geometry>
|
| 904 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
|
| 905 |
+
</geometry>
|
| 906 |
+
<material name="grey">
|
| 907 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 908 |
+
</material>
|
| 909 |
+
</visual>
|
| 910 |
+
<inertial>
|
| 911 |
+
<origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
|
| 912 |
+
<mass value="0.236"/>
|
| 913 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 914 |
+
</inertial>
|
| 915 |
+
</link>
|
| 916 |
+
<!-- Joint -->
|
| 917 |
+
<joint name="gripper_r_joint1" type="revolute">
|
| 918 |
+
<parent link="gripper_r_rh_p12_rn_base"/>
|
| 919 |
+
<child link="gripper_r_rh_p12_rn_r1"/>
|
| 920 |
+
<origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
|
| 921 |
+
<axis xyz="1 0 0"/>
|
| 922 |
+
<limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
|
| 923 |
+
<dynamics damping="0.7"/>
|
| 924 |
+
</joint>
|
| 925 |
+
<!-- rh_p12_rn_r1 -->
|
| 926 |
+
<link name="gripper_r_rh_p12_rn_r1">
|
| 927 |
+
<collision>
|
| 928 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 929 |
+
<geometry>
|
| 930 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
|
| 931 |
+
</geometry>
|
| 932 |
+
</collision>
|
| 933 |
+
<visual>
|
| 934 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 935 |
+
<geometry>
|
| 936 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
|
| 937 |
+
</geometry>
|
| 938 |
+
<material name="grey">
|
| 939 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 940 |
+
</material>
|
| 941 |
+
</visual>
|
| 942 |
+
<inertial>
|
| 943 |
+
<origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
|
| 944 |
+
<mass value="0.068"/>
|
| 945 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 946 |
+
</inertial>
|
| 947 |
+
</link>
|
| 948 |
+
<!-- Right Joint 2 -->
|
| 949 |
+
<joint name="gripper_r_joint2" type="revolute">
|
| 950 |
+
<parent link="gripper_r_rh_p12_rn_r1"/>
|
| 951 |
+
<child link="gripper_r_rh_p12_rn_r2"/>
|
| 952 |
+
<origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
|
| 953 |
+
<axis xyz="-1 0 0"/>
|
| 954 |
+
<limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
|
| 955 |
+
<dynamics damping="0.7"/>
|
| 956 |
+
<mimic joint="gripper_r_joint1" multiplier="1"/>
|
| 957 |
+
</joint>
|
| 958 |
+
<!-- rh_p12_rn_r2 -->
|
| 959 |
+
<link name="gripper_r_rh_p12_rn_r2">
|
| 960 |
+
<collision>
|
| 961 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 962 |
+
<geometry>
|
| 963 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
|
| 964 |
+
</geometry>
|
| 965 |
+
</collision>
|
| 966 |
+
<visual>
|
| 967 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 968 |
+
<geometry>
|
| 969 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
|
| 970 |
+
</geometry>
|
| 971 |
+
<material name="grey">
|
| 972 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 973 |
+
</material>
|
| 974 |
+
</visual>
|
| 975 |
+
<inertial>
|
| 976 |
+
<origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
|
| 977 |
+
<mass value="0.022"/>
|
| 978 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 979 |
+
</inertial>
|
| 980 |
+
</link>
|
| 981 |
+
<!-- Left Joint 1 -->
|
| 982 |
+
<joint name="gripper_r_joint3" type="revolute">
|
| 983 |
+
<parent link="gripper_r_rh_p12_rn_base"/>
|
| 984 |
+
<child link="gripper_r_rh_p12_rn_l1"/>
|
| 985 |
+
<origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
|
| 986 |
+
<axis xyz="-1 0 0"/>
|
| 987 |
+
<limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
|
| 988 |
+
<dynamics damping="0.7"/>
|
| 989 |
+
<mimic joint="gripper_r_joint1" multiplier="1"/>
|
| 990 |
+
</joint>
|
| 991 |
+
<!-- rh_p12_rn_l1 -->
|
| 992 |
+
<link name="gripper_r_rh_p12_rn_l1">
|
| 993 |
+
<collision>
|
| 994 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 995 |
+
<geometry>
|
| 996 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
|
| 997 |
+
</geometry>
|
| 998 |
+
</collision>
|
| 999 |
+
<visual>
|
| 1000 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1001 |
+
<geometry>
|
| 1002 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
|
| 1003 |
+
</geometry>
|
| 1004 |
+
<material name="grey">
|
| 1005 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 1006 |
+
</material>
|
| 1007 |
+
</visual>
|
| 1008 |
+
<inertial>
|
| 1009 |
+
<origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
|
| 1010 |
+
<mass value="0.068"/>
|
| 1011 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 1012 |
+
</inertial>
|
| 1013 |
+
</link>
|
| 1014 |
+
<!-- Left Joint 2 -->
|
| 1015 |
+
<joint name="gripper_r_joint4" type="revolute">
|
| 1016 |
+
<parent link="gripper_r_rh_p12_rn_l1"/>
|
| 1017 |
+
<child link="gripper_r_rh_p12_rn_l2"/>
|
| 1018 |
+
<origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
|
| 1019 |
+
<axis xyz="1 0 0"/>
|
| 1020 |
+
<limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
|
| 1021 |
+
<dynamics damping="0.7"/>
|
| 1022 |
+
<mimic joint="gripper_r_joint1" multiplier="1"/>
|
| 1023 |
+
</joint>
|
| 1024 |
+
<!-- rh_p12_rn_l2 -->
|
| 1025 |
+
<link name="gripper_r_rh_p12_rn_l2">
|
| 1026 |
+
<collision>
|
| 1027 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1028 |
+
<geometry>
|
| 1029 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
|
| 1030 |
+
</geometry>
|
| 1031 |
+
</collision>
|
| 1032 |
+
<visual>
|
| 1033 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1034 |
+
<geometry>
|
| 1035 |
+
<mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
|
| 1036 |
+
</geometry>
|
| 1037 |
+
<material name="grey">
|
| 1038 |
+
<color rgba="0.2 0.2 0.2 1"/>
|
| 1039 |
+
</material>
|
| 1040 |
+
</visual>
|
| 1041 |
+
<inertial>
|
| 1042 |
+
<origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
|
| 1043 |
+
<mass value="0.022"/>
|
| 1044 |
+
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
|
| 1045 |
+
</inertial>
|
| 1046 |
+
</link>
|
| 1047 |
+
<joint name="end_effector_r_joint" type="fixed">
|
| 1048 |
+
<parent link="arm_r_link7"/>
|
| 1049 |
+
<child link="end_effector_r_link"/>
|
| 1050 |
+
<origin rpy="0 0 0" xyz="0 0 -0.215"/>
|
| 1051 |
+
</joint>
|
| 1052 |
+
<link name="end_effector_r_link">
|
| 1053 |
+
<visual>
|
| 1054 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1055 |
+
<geometry>
|
| 1056 |
+
<box size="0.01 0.01 0.01"/>
|
| 1057 |
+
</geometry>
|
| 1058 |
+
<material name="red">
|
| 1059 |
+
<color rgba="1.0 0.0 0.0 1"/>
|
| 1060 |
+
</material>
|
| 1061 |
+
</visual>
|
| 1062 |
+
</link>
|
| 1063 |
+
<joint name="left_wheel_steer" type="revolute">
|
| 1064 |
+
<parent link="base_link"/>
|
| 1065 |
+
<child link="left_wheel_steer_link"/>
|
| 1066 |
+
<origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
|
| 1067 |
+
<axis xyz="0 0 1"/>
|
| 1068 |
+
<limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
|
| 1069 |
+
</joint>
|
| 1070 |
+
<link name="left_wheel_steer_link">
|
| 1071 |
+
<visual>
|
| 1072 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1073 |
+
<geometry>
|
| 1074 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1075 |
+
</geometry>
|
| 1076 |
+
<material name="silver">
|
| 1077 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1078 |
+
</material>
|
| 1079 |
+
</visual>
|
| 1080 |
+
<collision>
|
| 1081 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1082 |
+
<geometry>
|
| 1083 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1084 |
+
</geometry>
|
| 1085 |
+
</collision>
|
| 1086 |
+
<inertial>
|
| 1087 |
+
<origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
|
| 1088 |
+
<mass value="7.550951000e-01"/>
|
| 1089 |
+
<inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
|
| 1090 |
+
</inertial>
|
| 1091 |
+
</link>
|
| 1092 |
+
<joint name="left_wheel_drive" type="continuous">
|
| 1093 |
+
<parent link="left_wheel_steer_link"/>
|
| 1094 |
+
<child link="left_wheel_drive_link"/>
|
| 1095 |
+
<origin rpy="0 0 0" xyz="0 0 -0.18905"/>
|
| 1096 |
+
<axis xyz="0 1 0"/>
|
| 1097 |
+
<limit effort="9999.0" velocity="9999.0"/>
|
| 1098 |
+
</joint>
|
| 1099 |
+
<link name="left_wheel_drive_link">
|
| 1100 |
+
<visual>
|
| 1101 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1102 |
+
<geometry>
|
| 1103 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1104 |
+
</geometry>
|
| 1105 |
+
<material name="silver">
|
| 1106 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1107 |
+
</material>
|
| 1108 |
+
</visual>
|
| 1109 |
+
<collision>
|
| 1110 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1111 |
+
<geometry>
|
| 1112 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1113 |
+
</geometry>
|
| 1114 |
+
</collision>
|
| 1115 |
+
<inertial>
|
| 1116 |
+
<origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
|
| 1117 |
+
<mass value="3.795460500e+00"/>
|
| 1118 |
+
<inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
|
| 1119 |
+
</inertial>
|
| 1120 |
+
</link>
|
| 1121 |
+
<joint name="right_wheel_steer" type="revolute">
|
| 1122 |
+
<parent link="base_link"/>
|
| 1123 |
+
<child link="right_wheel_steer_link"/>
|
| 1124 |
+
<origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
|
| 1125 |
+
<axis xyz="0 0 1"/>
|
| 1126 |
+
<limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
|
| 1127 |
+
</joint>
|
| 1128 |
+
<link name="right_wheel_steer_link">
|
| 1129 |
+
<visual>
|
| 1130 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1131 |
+
<geometry>
|
| 1132 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1133 |
+
</geometry>
|
| 1134 |
+
<material name="silver">
|
| 1135 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1136 |
+
</material>
|
| 1137 |
+
</visual>
|
| 1138 |
+
<collision>
|
| 1139 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1140 |
+
<geometry>
|
| 1141 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1142 |
+
</geometry>
|
| 1143 |
+
</collision>
|
| 1144 |
+
<inertial>
|
| 1145 |
+
<origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
|
| 1146 |
+
<mass value="7.550951000e-01"/>
|
| 1147 |
+
<inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
|
| 1148 |
+
</inertial>
|
| 1149 |
+
</link>
|
| 1150 |
+
<joint name="right_wheel_drive" type="continuous">
|
| 1151 |
+
<parent link="right_wheel_steer_link"/>
|
| 1152 |
+
<child link="right_wheel_drive_link"/>
|
| 1153 |
+
<origin rpy="0 0 0" xyz="0 0 -0.18905"/>
|
| 1154 |
+
<axis xyz="0 1 0"/>
|
| 1155 |
+
<limit effort="9999.0" velocity="9999.0"/>
|
| 1156 |
+
</joint>
|
| 1157 |
+
<link name="right_wheel_drive_link">
|
| 1158 |
+
<visual>
|
| 1159 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1160 |
+
<geometry>
|
| 1161 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1162 |
+
</geometry>
|
| 1163 |
+
<material name="silver">
|
| 1164 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1165 |
+
</material>
|
| 1166 |
+
</visual>
|
| 1167 |
+
<collision>
|
| 1168 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1169 |
+
<geometry>
|
| 1170 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1171 |
+
</geometry>
|
| 1172 |
+
</collision>
|
| 1173 |
+
<inertial>
|
| 1174 |
+
<origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
|
| 1175 |
+
<mass value="3.795460500e+00"/>
|
| 1176 |
+
<inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
|
| 1177 |
+
</inertial>
|
| 1178 |
+
</link>
|
| 1179 |
+
<joint name="rear_wheel_steer" type="revolute">
|
| 1180 |
+
<parent link="base_link"/>
|
| 1181 |
+
<child link="rear_wheel_steer_link"/>
|
| 1182 |
+
<origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
|
| 1183 |
+
<axis xyz="0 0 1"/>
|
| 1184 |
+
<limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
|
| 1185 |
+
</joint>
|
| 1186 |
+
<link name="rear_wheel_steer_link">
|
| 1187 |
+
<visual>
|
| 1188 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1189 |
+
<geometry>
|
| 1190 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1191 |
+
</geometry>
|
| 1192 |
+
<material name="silver">
|
| 1193 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1194 |
+
</material>
|
| 1195 |
+
</visual>
|
| 1196 |
+
<collision>
|
| 1197 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1198 |
+
<geometry>
|
| 1199 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
|
| 1200 |
+
</geometry>
|
| 1201 |
+
</collision>
|
| 1202 |
+
<inertial>
|
| 1203 |
+
<origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
|
| 1204 |
+
<mass value="7.550951000e-01"/>
|
| 1205 |
+
<inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
|
| 1206 |
+
</inertial>
|
| 1207 |
+
</link>
|
| 1208 |
+
<joint name="rear_wheel_drive" type="continuous">
|
| 1209 |
+
<parent link="rear_wheel_steer_link"/>
|
| 1210 |
+
<child link="rear_wheel_drive_link"/>
|
| 1211 |
+
<origin rpy="0 0 0" xyz="0 0 -0.18905"/>
|
| 1212 |
+
<axis xyz="0 1 0"/>
|
| 1213 |
+
<limit effort="9999.0" velocity="9999.0"/>
|
| 1214 |
+
</joint>
|
| 1215 |
+
<link name="rear_wheel_drive_link">
|
| 1216 |
+
<visual>
|
| 1217 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1218 |
+
<geometry>
|
| 1219 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1220 |
+
</geometry>
|
| 1221 |
+
<material name="silver">
|
| 1222 |
+
<color rgba="0.75 0.75 0.75 1"/>
|
| 1223 |
+
</material>
|
| 1224 |
+
</visual>
|
| 1225 |
+
<collision>
|
| 1226 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1227 |
+
<geometry>
|
| 1228 |
+
<mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
|
| 1229 |
+
</geometry>
|
| 1230 |
+
</collision>
|
| 1231 |
+
<inertial>
|
| 1232 |
+
<origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
|
| 1233 |
+
<mass value="3.795460500e+00"/>
|
| 1234 |
+
<inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
|
| 1235 |
+
</inertial>
|
| 1236 |
+
</link>
|
| 1237 |
+
</robot>
|
30/camera_info/cam_left_head.yaml
ADDED
|
@@ -0,0 +1,55 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
header:
|
| 2 |
+
frame_id: zed_left_camera_optical_frame
|
| 3 |
+
stamp:
|
| 4 |
+
sec: 1783068321
|
| 5 |
+
nanosec: 391246908
|
| 6 |
+
height: 720
|
| 7 |
+
width: 1280
|
| 8 |
+
distortion_model: plumb_bob
|
| 9 |
+
d:
|
| 10 |
+
- 0.0
|
| 11 |
+
- 0.0
|
| 12 |
+
- 0.0
|
| 13 |
+
- 0.0
|
| 14 |
+
- 0.0
|
| 15 |
+
k:
|
| 16 |
+
- 735.4571533203125
|
| 17 |
+
- 0.0
|
| 18 |
+
- 625.3748779296875
|
| 19 |
+
- 0.0
|
| 20 |
+
- 735.4571533203125
|
| 21 |
+
- 361.1747131347656
|
| 22 |
+
- 0.0
|
| 23 |
+
- 0.0
|
| 24 |
+
- 1.0
|
| 25 |
+
r:
|
| 26 |
+
- 1.0
|
| 27 |
+
- 0.0
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.0
|
| 30 |
+
- 1.0
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
+
- 0.0
|
| 34 |
+
- 1.0
|
| 35 |
+
p:
|
| 36 |
+
- 735.4571533203125
|
| 37 |
+
- 0.0
|
| 38 |
+
- 625.3748779296875
|
| 39 |
+
- 0.0
|
| 40 |
+
- 0.0
|
| 41 |
+
- 735.4571533203125
|
| 42 |
+
- 361.1747131347656
|
| 43 |
+
- 0.0
|
| 44 |
+
- 0.0
|
| 45 |
+
- 0.0
|
| 46 |
+
- 1.0
|
| 47 |
+
- 0.0
|
| 48 |
+
binning_x: 0
|
| 49 |
+
binning_y: 0
|
| 50 |
+
roi:
|
| 51 |
+
x_offset: 0
|
| 52 |
+
y_offset: 0
|
| 53 |
+
height: 0
|
| 54 |
+
width: 0
|
| 55 |
+
do_rectify: false
|
30/camera_info/cam_left_wrist.yaml
ADDED
|
@@ -0,0 +1,55 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
header:
|
| 2 |
+
frame_id: camera_left_color_optical_frame
|
| 3 |
+
stamp:
|
| 4 |
+
sec: 1783068321
|
| 5 |
+
nanosec: 323302979
|
| 6 |
+
height: 480
|
| 7 |
+
width: 640
|
| 8 |
+
distortion_model: plumb_bob
|
| 9 |
+
d:
|
| 10 |
+
- -0.05390038341283798
|
| 11 |
+
- 0.05999734625220299
|
| 12 |
+
- -0.0001955493789864704
|
| 13 |
+
- 0.00022923003416508436
|
| 14 |
+
- -0.020182626321911812
|
| 15 |
+
k:
|
| 16 |
+
- 392.8999938964844
|
| 17 |
+
- 0.0
|
| 18 |
+
- 322.5819091796875
|
| 19 |
+
- 0.0
|
| 20 |
+
- 392.46600341796875
|
| 21 |
+
- 241.36207580566406
|
| 22 |
+
- 0.0
|
| 23 |
+
- 0.0
|
| 24 |
+
- 1.0
|
| 25 |
+
r:
|
| 26 |
+
- 1.0
|
| 27 |
+
- 0.0
|
| 28 |
+
- 0.0
|
| 29 |
+
- 0.0
|
| 30 |
+
- 1.0
|
| 31 |
+
- 0.0
|
| 32 |
+
- 0.0
|
| 33 |
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- 0.0
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| 34 |
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| 35 |
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| 36 |
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| 39 |
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| 53 |
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height: 0
|
| 54 |
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width: 0
|
| 55 |
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do_rectify: false
|
30/camera_info/cam_right_head.yaml
ADDED
|
@@ -0,0 +1,55 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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header:
|
| 2 |
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frame_id: zed_right_camera_optical_frame
|
| 3 |
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stamp:
|
| 4 |
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sec: 1783068321
|
| 5 |
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nanosec: 324230908
|
| 6 |
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height: 720
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| 7 |
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width: 1280
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| 8 |
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distortion_model: plumb_bob
|
| 9 |
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binning_x: 0
|
| 49 |
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binning_y: 0
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roi:
|
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x_offset: 0
|
| 52 |
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y_offset: 0
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| 53 |
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height: 0
|
| 54 |
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width: 0
|
| 55 |
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do_rectify: false
|
30/camera_info/cam_right_wrist.yaml
ADDED
|
@@ -0,0 +1,55 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
| 1 |
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header:
|
| 2 |
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frame_id: camera_right_color_optical_frame
|
| 3 |
+
stamp:
|
| 4 |
+
sec: 1783068321
|
| 5 |
+
nanosec: 375837158
|
| 6 |
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height: 480
|
| 7 |
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width: 640
|
| 8 |
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distortion_model: plumb_bob
|
| 9 |
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d:
|
| 10 |
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| 28 |
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p:
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| 36 |
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binning_x: 0
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| 49 |
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binning_y: 0
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| 50 |
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roi:
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| 51 |
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x_offset: 0
|
| 52 |
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y_offset: 0
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| 53 |
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height: 0
|
| 54 |
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width: 0
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| 55 |
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do_rectify: false
|
30/camera_info/camera_metadata.yaml
ADDED
|
@@ -0,0 +1,23 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
format_version: robotis_camera_metadata_v1
|
| 2 |
+
source: robot_config
|
| 3 |
+
cameras:
|
| 4 |
+
cam_left_head:
|
| 5 |
+
rotation_deg: 0
|
| 6 |
+
rotation_applied_at: record
|
| 7 |
+
image_topic: /zed/zed_node/left/image_rect_color/compressed
|
| 8 |
+
camera_info_topic: /zed/zed_node/left/camera_info
|
| 9 |
+
cam_left_wrist:
|
| 10 |
+
rotation_deg: 270
|
| 11 |
+
rotation_applied_at: record
|
| 12 |
+
image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
|
| 13 |
+
camera_info_topic: /camera_left/camera_left/color/camera_info
|
| 14 |
+
cam_right_head:
|
| 15 |
+
rotation_deg: 0
|
| 16 |
+
rotation_applied_at: record
|
| 17 |
+
image_topic: /zed/zed_node/right/image_rect_color/compressed
|
| 18 |
+
camera_info_topic: /zed/zed_node/right/camera_info
|
| 19 |
+
cam_right_wrist:
|
| 20 |
+
rotation_deg: 270
|
| 21 |
+
rotation_applied_at: record
|
| 22 |
+
image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
|
| 23 |
+
camera_info_topic: /camera_right/camera_right/color/camera_info
|
30/videos/30_0/cam_left_head_recorder_stats.json
ADDED
|
@@ -0,0 +1,43 @@
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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| 1 |
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{
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| 12 |
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| 22 |
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| 23 |
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| 24 |
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"mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_left_head.mp4",
|
| 25 |
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"name": "cam_left_head",
|
| 26 |
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| 27 |
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"raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_left_head.mjpeg.tmp",
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| 28 |
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| 29 |
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| 30 |
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"remux_duration_ns": 249600494,
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| 31 |
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"remux_error": null,
|
| 32 |
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"remux_status": "done",
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| 33 |
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"sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_left_head_timestamps.parquet",
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| 34 |
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| 35 |
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"topic": "/zed/zed_node/left/image_rect_color/compressed"
|
| 43 |
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}
|
30/videos/30_0/cam_left_wrist_recorder_stats.json
ADDED
|
@@ -0,0 +1,43 @@
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| 1 |
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{
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|
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|
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| 22 |
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|
| 23 |
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|
| 24 |
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"mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_left_wrist.mp4",
|
| 25 |
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"name": "cam_left_wrist",
|
| 26 |
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|
| 27 |
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"raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_left_wrist.mjpeg.tmp",
|
| 28 |
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|
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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"sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_left_wrist_timestamps.parquet",
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
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|
| 41 |
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|
| 42 |
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"topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
|
| 43 |
+
}
|
30/videos/30_0/cam_right_head_recorder_stats.json
ADDED
|
@@ -0,0 +1,43 @@
|
|
|
|
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|
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| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
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|
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|
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|
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|
| 13 |
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"max_callback_queue_bytes": 161869,
|
| 14 |
+
"max_callback_queue_items": 1,
|
| 15 |
+
"max_enqueue_wait_ns": 17024,
|
| 16 |
+
"max_header_ahead_ns": 0,
|
| 17 |
+
"max_header_behind_ns": 0,
|
| 18 |
+
"max_metadata_flush_ns": 6508037,
|
| 19 |
+
"max_metadata_queue_items": 1,
|
| 20 |
+
"max_raw_queue_bytes": 161869,
|
| 21 |
+
"max_raw_queue_items": 1,
|
| 22 |
+
"max_raw_write_ns": 7414570,
|
| 23 |
+
"metadata_error": null,
|
| 24 |
+
"mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_right_head.mp4",
|
| 25 |
+
"name": "cam_right_head",
|
| 26 |
+
"pressure_warning_count": 0,
|
| 27 |
+
"raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_right_head.mjpeg.tmp",
|
| 28 |
+
"raw_queue_bytes_current": 0,
|
| 29 |
+
"raw_write_error": null,
|
| 30 |
+
"remux_duration_ns": 292178786,
|
| 31 |
+
"remux_error": null,
|
| 32 |
+
"remux_status": "done",
|
| 33 |
+
"sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_right_head_timestamps.parquet",
|
| 34 |
+
"soft_callback_queue_bytes": 134217728,
|
| 35 |
+
"soft_callback_queue_frames": 256,
|
| 36 |
+
"soft_metadata_queue_rows": 16384,
|
| 37 |
+
"soft_raw_queue_bytes": 268435456,
|
| 38 |
+
"soft_raw_queue_frames": 256,
|
| 39 |
+
"timestamp_future_warning_count": 0,
|
| 40 |
+
"timestamp_past_warning_count": 0,
|
| 41 |
+
"timestamp_warning_count": 0,
|
| 42 |
+
"topic": "/zed/zed_node/right/image_rect_color/compressed"
|
| 43 |
+
}
|
30/videos/30_0/cam_right_wrist_recorder_stats.json
ADDED
|
@@ -0,0 +1,43 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"callback_queue_bytes_current": 0,
|
| 3 |
+
"diagnostics_mode": "summary",
|
| 4 |
+
"diagnostics_path": null,
|
| 5 |
+
"first_recv_ns": 1783068307746237020,
|
| 6 |
+
"frames_dropped_invalid": 0,
|
| 7 |
+
"frames_dropped_queue": 0,
|
| 8 |
+
"frames_metadata_written": 206,
|
| 9 |
+
"frames_received": 206,
|
| 10 |
+
"frames_remuxed": 206,
|
| 11 |
+
"frames_written": 206,
|
| 12 |
+
"last_recv_ns": 1783068321394880466,
|
| 13 |
+
"max_callback_queue_bytes": 70858,
|
| 14 |
+
"max_callback_queue_items": 1,
|
| 15 |
+
"max_enqueue_wait_ns": 900741,
|
| 16 |
+
"max_header_ahead_ns": 0,
|
| 17 |
+
"max_header_behind_ns": 0,
|
| 18 |
+
"max_metadata_flush_ns": 1230951,
|
| 19 |
+
"max_metadata_queue_items": 1,
|
| 20 |
+
"max_raw_queue_bytes": 70858,
|
| 21 |
+
"max_raw_queue_items": 1,
|
| 22 |
+
"max_raw_write_ns": 9948344,
|
| 23 |
+
"metadata_error": null,
|
| 24 |
+
"mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_right_wrist.mp4",
|
| 25 |
+
"name": "cam_right_wrist",
|
| 26 |
+
"pressure_warning_count": 0,
|
| 27 |
+
"raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_right_wrist.mjpeg.tmp",
|
| 28 |
+
"raw_queue_bytes_current": 0,
|
| 29 |
+
"raw_write_error": null,
|
| 30 |
+
"remux_duration_ns": 177503090,
|
| 31 |
+
"remux_error": null,
|
| 32 |
+
"remux_status": "done",
|
| 33 |
+
"sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/30/segments/0/videos/cam_right_wrist_timestamps.parquet",
|
| 34 |
+
"soft_callback_queue_bytes": 134217728,
|
| 35 |
+
"soft_callback_queue_frames": 256,
|
| 36 |
+
"soft_metadata_queue_rows": 16384,
|
| 37 |
+
"soft_raw_queue_bytes": 268435456,
|
| 38 |
+
"soft_raw_queue_frames": 256,
|
| 39 |
+
"timestamp_future_warning_count": 0,
|
| 40 |
+
"timestamp_past_warning_count": 0,
|
| 41 |
+
"timestamp_warning_count": 0,
|
| 42 |
+
"topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
|
| 43 |
+
}
|