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+https://github.com/fetchrobotics/fetch_ros + +Modifications: + + * Comment out `bellows_link` and `bellows_joint`. You can push off the ground using this strange thing! + + * Set moments of inertia of `r_gripper_finger_link` and `l_gripper_finger_link` to non-zero. + + * Set moments of inertia of `base_link` to zero, except for Z-axis, to disable rotation other than around Z axis. + + * Added `` for camera, turn `head_camera_rgb_optical_frame` 180 degrees as camera was facing backwards. + + * Spheres are now collision shape for wheels (fixes jumping). + + * Boxes for fingers collision shape. diff --git a/robots/fetch/robots/fetch.urdf b/robots/fetch/robots/fetch.urdf new file mode 100644 index 0000000000000000000000000000000000000000..507c744ffb33f3ed30e27a3261144d86e0f084e4 --- /dev/null +++ b/robots/fetch/robots/fetch.urdf @@ -0,0 +1,665 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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mode 100644 index 0000000000000000000000000000000000000000..88c6db70bf3c3b68bce08b9bcb5142050b1f9079 --- /dev/null +++ b/robots/franka_rlafford/meshes/collision/link4.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0180ebb5772ec9840cb049750cffb29a9ddc90311752a16ea34757782ef9e48d +size 15084 diff --git a/robots/franka_rlafford/meshes/collision/link5.obj b/robots/franka_rlafford/meshes/collision/link5.obj new file mode 100644 index 0000000000000000000000000000000000000000..836109749ac0fa20c26f1668bd2384d151432a27 --- /dev/null +++ b/robots/franka_rlafford/meshes/collision/link5.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:936f20861fe9ae5a2873e5a2536086629fab92ebdbd5e5217919d9d49a2b285c +size 21313 diff --git a/robots/franka_rlafford/meshes/collision/link5.stl b/robots/franka_rlafford/meshes/collision/link5.stl new file mode 100644 index 0000000000000000000000000000000000000000..5eaf5c8ec2155135ab9297d51e3dae6e5e280675 --- /dev/null +++ b/robots/franka_rlafford/meshes/collision/link5.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd17e688c7870e722283525879643d53a74c0024d328b0e14b034b54c8b6c31a +size 15084 diff --git a/robots/franka_rlafford/meshes/collision/link6.obj b/robots/franka_rlafford/meshes/collision/link6.obj new file mode 100644 index 0000000000000000000000000000000000000000..f7955c9a091e96298c09f406c72fe99e7747ba81 --- /dev/null +++ b/robots/franka_rlafford/meshes/collision/link6.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b950af03e0c8b06dae2c7f68af1e2c2f945b37174f60358d2c6b7e77a8cdb0ec +size 14325 diff --git a/robots/franka_rlafford/meshes/collision/link6.stl b/robots/franka_rlafford/meshes/collision/link6.stl new file mode 100644 index 0000000000000000000000000000000000000000..828ad3bd384b22ef734d8add0e50d6ae449dce9c --- /dev/null +++ b/robots/franka_rlafford/meshes/collision/link6.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20b768e99a0e0440b5754dcca108016434e57937cc356acd9c352ccd3cb27f77 +size 10084 diff --git a/robots/franka_rlafford/meshes/collision/link7.obj b/robots/franka_rlafford/meshes/collision/link7.obj new file mode 100644 index 0000000000000000000000000000000000000000..78c6b36d7b53a3238ade0d326589125eafcb1157 --- /dev/null +++ b/robots/franka_rlafford/meshes/collision/link7.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e96078e8551ea47b991fba278953233b56acc870b1db6c552eefd46cf31dda47 +size 16747 diff --git a/robots/franka_rlafford/meshes/collision/link7.stl b/robots/franka_rlafford/meshes/collision/link7.stl new file mode 100644 index 0000000000000000000000000000000000000000..2047756ec662f051af90fe61266998bf16e655fe --- /dev/null +++ b/robots/franka_rlafford/meshes/collision/link7.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92ac6afcf7574c034d3170d8a68e95ac9048ab9d0dd5bbd8311b86e551b9ab1c +size 10084 diff --git a/robots/franka_rlafford/meshes/collision/stltoobj.bat b/robots/franka_rlafford/meshes/collision/stltoobj.bat new file mode 100644 index 0000000000000000000000000000000000000000..2b9877c292449ced6281ea2ff64ce98cec458c6d --- /dev/null +++ b/robots/franka_rlafford/meshes/collision/stltoobj.bat @@ -0,0 +1,5 @@ +REM SET PATH=%PATH%;C:/Tools/Assimp/bin/x64/ +REM forfiles /m *.dae /c "cmd /c assimp export @file @fname.obj --verbose --show-log -ptv" + +SET PATH=%PATH%;C:/Program Files/VCG/MeshLab/ +forfiles /m *.stl /c "cmd /c meshlabserver -i @file -o @fname.obj -m vn -s stltoobj.mlx" \ No newline at end of file diff --git a/robots/franka_rlafford/meshes/collision/stltoobj.mlx b/robots/franka_rlafford/meshes/collision/stltoobj.mlx new file mode 100644 index 0000000000000000000000000000000000000000..0b6fbb6b3f005de3ad10029906ede760f2ad6606 --- /dev/null +++ b/robots/franka_rlafford/meshes/collision/stltoobj.mlx @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/robots/franka_rlafford/meshes/visual/daetoobj.bat b/robots/franka_rlafford/meshes/visual/daetoobj.bat new file mode 100644 index 0000000000000000000000000000000000000000..4eaf4f390b0aecf34584217144b5d51e56e26dca --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/daetoobj.bat @@ -0,0 +1,5 @@ +SET PATH=%PATH%;C:/Tools/Assimp/bin/x64/ +forfiles /m *.dae /c "cmd /c assimp export @file @fname.obj --verbose --show-log -ptv" + +REM SET PATH=%PATH%;C:/Program Files/VCG/MeshLab/ +REM forfiles /m *.dae /c "cmd /c meshlabserver -i @file -o @fname.obj -m vn vt \ No newline at end of file diff --git a/robots/franka_rlafford/meshes/visual/daetoobj.mlx b/robots/franka_rlafford/meshes/visual/daetoobj.mlx new file mode 100644 index 0000000000000000000000000000000000000000..a72957a82cc8db27f30115056e85ff4d797d5b99 --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/daetoobj.mlx @@ -0,0 +1,4 @@ + + + + diff --git a/robots/franka_rlafford/meshes/visual/finger.dae b/robots/franka_rlafford/meshes/visual/finger.dae new file mode 100644 index 0000000000000000000000000000000000000000..4d466b28d3861fedc2a0ebd9735c1779501d35f4 --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/finger.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91e979cce042a1bb520723eb041087df006a4a4d76f6decbe5e32964072aac8d +size 51298 diff --git a/robots/franka_rlafford/meshes/visual/finger.mtl b/robots/franka_rlafford/meshes/visual/finger.mtl new file mode 100644 index 0000000000000000000000000000000000000000..c63fce760e7eb0f931ff52eca03adb804d0aa744 --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/finger.mtl @@ -0,0 +1,22 @@ +# Blender MTL File: 'None' +# Material Count: 2 + +newmtl Part__Feature001_006 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.901961 0.921569 0.929412 +Ks 0.250000 0.250000 0.250000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Part__Feature_007 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.250000 0.250000 0.250000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/robots/franka_rlafford/meshes/visual/finger.obj b/robots/franka_rlafford/meshes/visual/finger.obj new file mode 100644 index 0000000000000000000000000000000000000000..71b83987ab63fe862481ef95d65eb26461ae4cea --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/finger.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e7d38f85c14bcb6d1fcf2bfadb70329bb0f3b352c02dd03d7f5baed15f3f954 +size 48085 diff --git a/robots/franka_rlafford/meshes/visual/hand.dae b/robots/franka_rlafford/meshes/visual/hand.dae new file mode 100644 index 0000000000000000000000000000000000000000..8fa3831578dbdc206886c779ef322e52bb6aa209 --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/hand.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1001349e0de1fd6cde51bcb3485cb81566bc88ad1e41e732861859286fcf9ebb +size 549346 diff --git a/robots/franka_rlafford/meshes/visual/hand.mtl b/robots/franka_rlafford/meshes/visual/hand.mtl new file mode 100644 index 0000000000000000000000000000000000000000..53ddbc0c254c77f94cd383daf5ec65cbc03d81b6 --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/hand.mtl @@ -0,0 +1,52 @@ +# Blender MTL File: 'None' +# Material Count: 5 + +newmtl Part__Feature001_008_005 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.007812 0.007812 0.007812 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Part__Feature002_005_005 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.901961 0.921569 0.929412 +Ks 0.015625 0.015625 0.015625 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Part__Feature005_001_005 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.015625 0.015625 0.015625 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Part__Feature005_001_005_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.901961 0.921569 0.929412 +Ks 0.015625 0.015625 0.015625 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Part__Feature_009_005 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.015625 0.015625 0.015625 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/robots/franka_rlafford/meshes/visual/hand.obj b/robots/franka_rlafford/meshes/visual/hand.obj new file mode 100644 index 0000000000000000000000000000000000000000..d700f4cb2b19826472e68848aa685bdb91f550fd --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/hand.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c572a8071796245b1d30dfff565e41c780ca711462884977ca3969b4baeecdd +size 483975 diff --git a/robots/franka_rlafford/meshes/visual/link0.dae b/robots/franka_rlafford/meshes/visual/link0.dae new file mode 100644 index 0000000000000000000000000000000000000000..9b8e736c2818f1872dd2193f8c7384ce1aa64539 --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link0.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a1742769950c81ce60b881aad0f4fb04949536f01a9e2872bf775d54e895420 +size 1591811 diff --git a/robots/franka_rlafford/meshes/visual/link0.mtl b/robots/franka_rlafford/meshes/visual/link0.mtl new file mode 100644 index 0000000000000000000000000000000000000000..c6a731a393e6eadaeb14c872e80649dc7b7a2e36 --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link0.mtl @@ -0,0 +1,122 @@ +# Blender MTL File: 'None' +# Material Count: 12 + +newmtl Face636_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.901961 0.921569 0.929412 +Ks 0.125000 0.125000 0.125000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Part__Feature017_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 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0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell002_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.901961 0.921569 0.929412 +Ks 0.125000 0.125000 0.125000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell003_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.901961 0.921569 0.929412 +Ks 0.125000 0.125000 0.125000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell009_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.125000 0.125000 0.125000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell010_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.901961 0.921569 0.929412 +Ks 0.125000 0.125000 0.125000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.125000 0.125000 0.125000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/robots/franka_rlafford/meshes/visual/link0.obj b/robots/franka_rlafford/meshes/visual/link0.obj new file mode 100644 index 0000000000000000000000000000000000000000..266488615dab71a096221eaa1aefb73e22708454 --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link0.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5abc04a4e134587f7d02359c4e5b2fe45063fbd5232abc453ffdccf335d4c071 +size 1442561 diff --git a/robots/franka_rlafford/meshes/visual/link1.dae b/robots/franka_rlafford/meshes/visual/link1.dae new file mode 100644 index 0000000000000000000000000000000000000000..f229541754afb6e8bc547aa0185afcff5821deb7 --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link1.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76b831bdbef18850067af86373484591cc1bfdeaafa15fad3d74a6c3c0d3e2d3 +size 978516 diff --git a/robots/franka_rlafford/meshes/visual/link1.mtl b/robots/franka_rlafford/meshes/visual/link1.mtl new file mode 100644 index 0000000000000000000000000000000000000000..ef1b5c86d631ad445756e149f0cf2835c50619ab --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link1.mtl @@ -0,0 +1,12 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl Part__Feature_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.062500 0.062500 0.062500 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/robots/franka_rlafford/meshes/visual/link1.obj b/robots/franka_rlafford/meshes/visual/link1.obj new file mode 100644 index 0000000000000000000000000000000000000000..f42c8a8470659a889f49701f36d19d4e58a45b7b --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link1.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43cfacefee7beaeb83c07747cda20643fc32d73702acd19e688dda4a3693cdcd +size 777412 diff --git a/robots/franka_rlafford/meshes/visual/link2.dae b/robots/franka_rlafford/meshes/visual/link2.dae new file mode 100644 index 0000000000000000000000000000000000000000..d4a581fe2853b203489bc74038347a94d285a5c6 --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link2.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2641ba86d89d980a4b0323f9c38c2c6741a7463ab6ba7d426ebfba91217d4cd0 +size 998587 diff --git a/robots/franka_rlafford/meshes/visual/link2.mtl b/robots/franka_rlafford/meshes/visual/link2.mtl new file mode 100644 index 0000000000000000000000000000000000000000..e744af431bc45407685906204ba678ca3a26213b --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link2.mtl @@ -0,0 +1,12 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl Part__Feature024 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.125000 0.125000 0.125000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/robots/franka_rlafford/meshes/visual/link2.obj b/robots/franka_rlafford/meshes/visual/link2.obj new file mode 100644 index 0000000000000000000000000000000000000000..19a9a5b3105740e3f7bdc6a081488bb59388eff6 --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link2.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f02da31df4f8f4d56a2ff5a745a264138f26e2cd43cbf6696f6329a6d3489e50 +size 783731 diff --git a/robots/franka_rlafford/meshes/visual/link3.dae b/robots/franka_rlafford/meshes/visual/link3.dae new file mode 100644 index 0000000000000000000000000000000000000000..1e7e7105c59e5ebca83ed0b0b8eda61cffe12f32 --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link3.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:152a575b9e8e66483daf8d4630f039673f83da4401c57f4951fd4f4599906f9d +size 1099974 diff --git a/robots/franka_rlafford/meshes/visual/link3.mtl b/robots/franka_rlafford/meshes/visual/link3.mtl new file mode 100644 index 0000000000000000000000000000000000000000..83b6a89f82a62be3d7bb4e5a6cd65288319a1ad0 --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link3.mtl @@ -0,0 +1,42 @@ +# Blender MTL File: 'None' +# Material Count: 4 + +newmtl Part__Feature001_010_001_002.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.007812 0.007812 0.007812 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Part__Feature002_007_001_002.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.007812 0.007812 0.007812 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Part__Feature003_004_001_002.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.007812 0.007812 0.007812 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Part__Feature_001_001_001_002.001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.007812 0.007812 0.007812 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/robots/franka_rlafford/meshes/visual/link3.obj b/robots/franka_rlafford/meshes/visual/link3.obj new file mode 100644 index 0000000000000000000000000000000000000000..0bb6c1105eafa2bae9c8224edd3e2c21fe4f4ee2 --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link3.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b129c2eabd4d060ad40a1442add2d419216f23ea57c029bc44ec241b24cf63df +size 910167 diff --git a/robots/franka_rlafford/meshes/visual/link4.dae b/robots/franka_rlafford/meshes/visual/link4.dae new file mode 100644 index 0000000000000000000000000000000000000000..2a83f8a2b790dcd192fe193f0921bd515848bf75 --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link4.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7ca4622569abc56c73fe0cefffa5df7bef4055a44f900f3bd5263ba1be94fb7 +size 1145814 diff --git a/robots/franka_rlafford/meshes/visual/link4.mtl b/robots/franka_rlafford/meshes/visual/link4.mtl new file mode 100644 index 0000000000000000000000000000000000000000..1dc4477671c2d76407267f9c101964d10d4c9f4d --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link4.mtl @@ -0,0 +1,42 @@ +# Blender MTL File: 'None' +# Material Count: 4 + +newmtl Part__Feature001_001_003_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.007812 0.007812 0.007812 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Part__Feature002_001_003_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.007812 0.007812 0.007812 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Part__Feature003_001_003_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.007812 0.007812 0.007812 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Part__Feature_002_003_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.007812 0.007812 0.007812 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/robots/franka_rlafford/meshes/visual/link4.obj b/robots/franka_rlafford/meshes/visual/link4.obj new file mode 100644 index 0000000000000000000000000000000000000000..0b594233980038e26f2e6ef708418c01586b5218 --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link4.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d93e9c9295160c851afd8c1acb9ad75cb339ebe4e67de26e28899bdebb1ace0b +size 939686 diff --git a/robots/franka_rlafford/meshes/visual/link5.dae b/robots/franka_rlafford/meshes/visual/link5.dae new file mode 100644 index 0000000000000000000000000000000000000000..f09ab111e4bd4fc69d2eaca85f024c14d295a437 --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link5.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc0e0f9db62856a0dd19217a4d4299e0ee779e7d42fe2c7d95b6a8c3185244de +size 1438422 diff --git a/robots/franka_rlafford/meshes/visual/link5.mtl b/robots/franka_rlafford/meshes/visual/link5.mtl new file mode 100644 index 0000000000000000000000000000000000000000..36bba54a13d6b0e57765578e06e25a1f7bfeea4c --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link5.mtl @@ -0,0 +1,32 @@ +# Blender MTL File: 'None' +# Material Count: 3 + +newmtl Part__Feature_002_004_003 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.015625 0.015625 0.015625 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell001_001_001_003 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250000 0.250000 0.250000 +Ks 0.015625 0.015625 0.015625 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell_001_001_003 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.015625 0.015625 0.015625 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/robots/franka_rlafford/meshes/visual/link5.obj b/robots/franka_rlafford/meshes/visual/link5.obj new file mode 100644 index 0000000000000000000000000000000000000000..36212884dca2cacc2722dde4fa62a3da8c77810f --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link5.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbc922b94b4e95ea073a27c3faf9c2591d9249bd1b9cca805cea85c8b979a865 +size 1186728 diff --git a/robots/franka_rlafford/meshes/visual/link6.dae b/robots/franka_rlafford/meshes/visual/link6.dae new file mode 100644 index 0000000000000000000000000000000000000000..4fa3eeb9ed53b2b3511a1a5301d6bfdafb1e082a --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link6.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3832db44d0546dfb576b63243fcb9836ee07f4c4469a9486c4cdbd0d56c27b2 +size 1729056 diff --git a/robots/franka_rlafford/meshes/visual/link6.mtl b/robots/franka_rlafford/meshes/visual/link6.mtl new file mode 100644 index 0000000000000000000000000000000000000000..f22d02686517b57470d7b461de1e46a8bb3c7ec7 --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link6.mtl @@ -0,0 +1,172 @@ +# Blender MTL File: 'None' +# Material Count: 17 + +newmtl Face064_002_001_002_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 0.000000 0.000000 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Face065_002_001_002_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.000000 1.000000 0.000000 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Face374_002_001_002_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Face539_002_001_002_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Part__Feature001_009_001_002_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Part__Feature002_006_001_002_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell002_002_001_002_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell003_002_001_002_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell004_001_001_002_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell005_001_001_002_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell006_003_002_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.901961 0.921569 0.929412 +Ks 0.015625 0.015625 0.015625 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell007_002_002_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250000 0.250000 0.250000 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell011_002_002_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell012_002_002_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Shell_003_001_002_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Union001_001_001_002_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.039216 0.541176 0.780392 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Union_001_001_002_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.039216 0.541176 0.780392 +Ks 0.003906 0.003906 0.003906 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/robots/franka_rlafford/meshes/visual/link6.obj b/robots/franka_rlafford/meshes/visual/link6.obj new file mode 100644 index 0000000000000000000000000000000000000000..ef431a9f763ce45ec48c3bf1f705b1ea9584eea6 --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link6.obj @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82d37a43fb5be9c8da3b87627c7cba1de1950db8011567ea1571579855427a50 +size 1547955 diff --git a/robots/franka_rlafford/meshes/visual/link7.dae b/robots/franka_rlafford/meshes/visual/link7.dae new file mode 100644 index 0000000000000000000000000000000000000000..6a69b11bdc8a5840b02abd6c49f54620d7dd6999 --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link7.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00cec1f7a687e918c7c631b2e75ff053ddefc928a05bfd598aa712db863094ed +size 936575 diff --git a/robots/franka_rlafford/meshes/visual/link7.mtl b/robots/franka_rlafford/meshes/visual/link7.mtl new file mode 100644 index 0000000000000000000000000000000000000000..52366ba564901070e2ee1173644528071ab6d7fb --- /dev/null +++ b/robots/franka_rlafford/meshes/visual/link7.mtl @@ -0,0 +1,82 @@ +# Blender MTL File: 'None' +# Material Count: 8 + +newmtl Part__Mirroring001_004_002 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.015625 0.015625 0.015625 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Part__Mirroring002_004_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.031250 0.031250 0.031250 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Part__Mirroring003_004_001 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 0.250980 0.250980 0.250980 +Ks 0.031250 0.031250 0.031250 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Part__Mirroring004_004_002 +Ns -1.960784 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 1.000000 1.000000 +Ks 0.031250 0.031250 0.031250 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl Part__Mirroring005_004_001 +Ns 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