Add files using upload-large-folder tool
Browse files- .gitignore +9 -0
- README +1 -0
- omnigibson-robot-assets/.gitattributes +13 -0
- omnigibson-robot-assets/README.md +1 -0
- omnigibson-robot-assets/models/fetch/urdf/fetch.urdf +811 -0
- omnigibson-robot-assets/models/fetch/urdf/fetch_original.urdf +589 -0
- omnigibson-robot-assets/models/fetch/urdf/fetch_original_mirror.urdf +811 -0
- omnigibson-robot-assets/models/fetch/urdf/fetch_with_meta_links.urdf +811 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/base_link.obj +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/base_link.obj.mtl +14 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/bellows_link.STL +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/bellows_link.mtl +6 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/bellows_link.obj +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/bellows_link_collision.STL +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/elbow_flex_link.obj +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/elbow_flex_link_collision.STL +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/estop_link.dae +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/estop_link.obj +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/forearm_roll_link.obj +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/forearm_roll_link.obj.mtl +14 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/forearm_roll_link_collision.STL +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/gripper_link.dae +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/gripper_link.obj +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/gripper_link.obj.mtl +14 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/head_pan_link.obj.mtl +14 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/head_tilt_link.obj +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/head_tilt_link.obj.mtl +14 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/head_tilt_link_collision.STL +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/l_gripper_finger_link.STL +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/l_wheel_link.obj +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/l_wheel_link_collision.STL +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/r_gripper_finger_link.STL +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/r_wheel_link.obj +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/r_wheel_link_collision.STL +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/shoulder_lift_link.obj +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/shoulder_pan_link.obj.mtl +14 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/torso_fixed_link.STL +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/torso_fixed_link.dae +137 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/torso_fixed_link.obj +828 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/torso_fixed_link.obj.mtl +14 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/torso_lift_link_collision.STL +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/upperarm_roll_link.obj.mtl +14 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/upperarm_roll_link_collision.STL +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/wrist_flex_link.dae +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/wrist_flex_link.obj.mtl +14 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/wrist_flex_link_collision.STL +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/wrist_roll_link.dae +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/wrist_roll_link.obj +0 -0
- omnigibson-robot-assets/models/fetch/urdf/meshes/wrist_roll_link_collision.STL +0 -0
- omnigibson.key +1 -0
.gitignore
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# Ignore everything
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# Re-include the .gitignore file itself
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!.gitignore
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!.dockerignore
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# Also include the README
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!README
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README
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This is where datasets will go by default. If you want to change that, you can use the OMNIGIBSON_DATA_PATH env variable.
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omnigibson-robot-assets/.gitattributes
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*.psd filter=lfs diff=lfs merge=lfs -text
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*.pth filter=lfs diff=lfs merge=lfs -text
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*.usd filter=lfs diff=lfs merge=lfs -text
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*.usda filter=lfs diff=lfs merge=lfs -text
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*.dae filter=lfs diff=lfs merge=lfs -text
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omnigibson-robot-assets/README.md
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## This repository now lives at https://huggingface.co/datasets/behavior-1k/robot-assets
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omnigibson-robot-assets/models/fetch/urdf/fetch.urdf
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|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="fetch">
|
| 3 |
+
<link name="base_link">
|
| 4 |
+
<inertial>
|
| 5 |
+
<origin rpy="0 0 0" xyz="-0.0036 0.0 0.0014" />
|
| 6 |
+
<mass value="70.1294" />
|
| 7 |
+
<inertia ixx="1.225" ixy="0.0099" ixz="0.0062" iyy="1.2853" iyz="-0.0034" izz="0.987" />
|
| 8 |
+
</inertial>
|
| 9 |
+
<visual>
|
| 10 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 11 |
+
<geometry>
|
| 12 |
+
<mesh filename="meshes/base_link.obj" />
|
| 13 |
+
</geometry>
|
| 14 |
+
</visual>
|
| 15 |
+
<contact>
|
| 16 |
+
<lateral_friction value="0.0" />
|
| 17 |
+
<rolling_friction value="0.0" />
|
| 18 |
+
<stiffness value="300000" />
|
| 19 |
+
<damping value="30000" />
|
| 20 |
+
</contact>
|
| 21 |
+
<collision name="base_link-col-0">
|
| 22 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 23 |
+
<geometry>
|
| 24 |
+
<mesh filename="meshes/collision/base_link-col-0.obj" scale="0.578763986081307 0.5310810167969149 0.35891242319259714" />
|
| 25 |
+
</geometry>
|
| 26 |
+
</collision>
|
| 27 |
+
</link>
|
| 28 |
+
<link name="r_wheel_link">
|
| 29 |
+
<inertial>
|
| 30 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 31 |
+
<mass value="4.3542" />
|
| 32 |
+
<inertia ixx="0.0045" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.0045" />
|
| 33 |
+
</inertial>
|
| 34 |
+
<visual>
|
| 35 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 36 |
+
<geometry>
|
| 37 |
+
<mesh filename="meshes/r_wheel_link.obj" />
|
| 38 |
+
</geometry>
|
| 39 |
+
</visual>
|
| 40 |
+
<collision>
|
| 41 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 42 |
+
<geometry>
|
| 43 |
+
<sphere radius="0.0613" />
|
| 44 |
+
</geometry>
|
| 45 |
+
</collision>
|
| 46 |
+
<contact>
|
| 47 |
+
<lateral_friction value="1.0" />
|
| 48 |
+
<rolling_friction value="0.0" />
|
| 49 |
+
<stiffness value="300000" />
|
| 50 |
+
<damping value="30000" />
|
| 51 |
+
</contact>
|
| 52 |
+
</link>
|
| 53 |
+
<joint name="r_wheel_joint" type="continuous">
|
| 54 |
+
<origin rpy="-6.123E-17 0 0" xyz="0.0012914 -0.18738 0.06" />
|
| 55 |
+
<parent link="base_link" />
|
| 56 |
+
<child link="r_wheel_link" />
|
| 57 |
+
<axis xyz="0 1 0" />
|
| 58 |
+
<limit effort="8.85" velocity="17.4" />
|
| 59 |
+
</joint>
|
| 60 |
+
<link name="l_wheel_link">
|
| 61 |
+
<inertial>
|
| 62 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 63 |
+
<mass value="4.3542" />
|
| 64 |
+
<inertia ixx="0.0045" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.0045" />
|
| 65 |
+
</inertial>
|
| 66 |
+
<visual>
|
| 67 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 68 |
+
<geometry>
|
| 69 |
+
<mesh filename="meshes/l_wheel_link.obj" />
|
| 70 |
+
</geometry>
|
| 71 |
+
</visual>
|
| 72 |
+
<collision>
|
| 73 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 74 |
+
<geometry>
|
| 75 |
+
<sphere radius="0.0613" />
|
| 76 |
+
</geometry>
|
| 77 |
+
</collision>
|
| 78 |
+
<contact>
|
| 79 |
+
<lateral_friction value="1.0" />
|
| 80 |
+
<rolling_friction value="0.0" />
|
| 81 |
+
<stiffness value="300000" />
|
| 82 |
+
<damping value="30000" />
|
| 83 |
+
</contact>
|
| 84 |
+
</link>
|
| 85 |
+
<joint name="l_wheel_joint" type="continuous">
|
| 86 |
+
<origin rpy="-6.123E-17 0 0" xyz="0.0012914 0.18738 0.06" />
|
| 87 |
+
<parent link="base_link" />
|
| 88 |
+
<child link="l_wheel_link" />
|
| 89 |
+
<axis xyz="0 1 0" />
|
| 90 |
+
<limit effort="8.85" velocity="17.4" />
|
| 91 |
+
</joint>
|
| 92 |
+
<link name="torso_lift_link">
|
| 93 |
+
<inertial>
|
| 94 |
+
<origin rpy="0 0 0" xyz="-0.0013 -0.0009 0.2935" />
|
| 95 |
+
<mass value="10.7796" />
|
| 96 |
+
<inertia ixx="0.3354" ixy="0.0" ixz="-0.0162" iyy="0.3354" iyz="-0.0006" izz="0.0954" />
|
| 97 |
+
</inertial>
|
| 98 |
+
<visual>
|
| 99 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 100 |
+
<geometry>
|
| 101 |
+
<mesh filename="meshes/torso_lift_link.obj" />
|
| 102 |
+
</geometry>
|
| 103 |
+
</visual>
|
| 104 |
+
<collision name="torso_lift_link-col-0">
|
| 105 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 106 |
+
<geometry>
|
| 107 |
+
<mesh filename="meshes/collision/torso_lift_link-col-0.obj" scale="0.12525209179928845 0.11468056843414176 0.13191813722037377" />
|
| 108 |
+
</geometry>
|
| 109 |
+
</collision>
|
| 110 |
+
<collision name="torso_lift_link-col-1">
|
| 111 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 112 |
+
<geometry>
|
| 113 |
+
<mesh filename="meshes/collision/torso_lift_link-col-1.obj" scale="0.24096705641297086 0.3527166346431949 0.11189929446912489" />
|
| 114 |
+
</geometry>
|
| 115 |
+
</collision>
|
| 116 |
+
<collision name="torso_lift_link-col-2">
|
| 117 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 118 |
+
<geometry>
|
| 119 |
+
<mesh filename="meshes/collision/torso_lift_link-col-2.obj" scale="0.03296376845994864 0.16283957328927515 0.08082289749684857" />
|
| 120 |
+
</geometry>
|
| 121 |
+
</collision>
|
| 122 |
+
<collision name="torso_lift_link-col-3">
|
| 123 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 124 |
+
<geometry>
|
| 125 |
+
<mesh filename="meshes/collision/torso_lift_link-col-3.obj" scale="0.0869032523834895 0.16886232533953707 0.05984454527672111" />
|
| 126 |
+
</geometry>
|
| 127 |
+
</collision>
|
| 128 |
+
<collision name="torso_lift_link-col-4">
|
| 129 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 130 |
+
<geometry>
|
| 131 |
+
<mesh filename="meshes/collision/torso_lift_link-col-4.obj" scale="0.24204504706078014 0.35493658162117336 0.3114894822566776" />
|
| 132 |
+
</geometry>
|
| 133 |
+
</collision>
|
| 134 |
+
<collision name="torso_lift_link-col-5">
|
| 135 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 136 |
+
<geometry>
|
| 137 |
+
<mesh filename="meshes/collision/torso_lift_link-col-5.obj" scale="0.011709697333178337 0.18473310881121432 0.16212756992602606" />
|
| 138 |
+
</geometry>
|
| 139 |
+
</collision>
|
| 140 |
+
<collision name="torso_lift_link-col-6">
|
| 141 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 142 |
+
<geometry>
|
| 143 |
+
<mesh filename="meshes/collision/torso_lift_link-col-6.obj" scale="0.02205084648886141 0.2891549849267875 0.16211681636811792" />
|
| 144 |
+
</geometry>
|
| 145 |
+
</collision>
|
| 146 |
+
<collision name="torso_lift_link-col-7">
|
| 147 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 148 |
+
<geometry>
|
| 149 |
+
<mesh filename="meshes/collision/torso_lift_link-col-7.obj" scale="0.2070979967919511 0.3529862873889307 0.1621993831698174" />
|
| 150 |
+
</geometry>
|
| 151 |
+
</collision>
|
| 152 |
+
</link>
|
| 153 |
+
<joint name="torso_lift_joint" type="prismatic">
|
| 154 |
+
<origin rpy="-6.123E-17 0 0" xyz="-0.086875 0 0.37743" />
|
| 155 |
+
<parent link="base_link" />
|
| 156 |
+
<child link="torso_lift_link" />
|
| 157 |
+
<axis xyz="0 0 1" />
|
| 158 |
+
<limit effort="450.0" lower="0" upper="0.38615" velocity="0.1" />
|
| 159 |
+
<dynamics damping="100.0" />
|
| 160 |
+
</joint>
|
| 161 |
+
<link name="head_pan_link">
|
| 162 |
+
<inertial>
|
| 163 |
+
<origin rpy="0 0 0" xyz="0.0321 0.0161 0.0390" />
|
| 164 |
+
<mass value="2.2556" />
|
| 165 |
+
<inertia ixx="0.0129" ixy="0.0002" ixz="0.0007" iyy="0.0095" iyz="-0.0" izz="0.0184" />
|
| 166 |
+
</inertial>
|
| 167 |
+
<visual>
|
| 168 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 169 |
+
<geometry>
|
| 170 |
+
<mesh filename="meshes/head_pan_link.obj" />
|
| 171 |
+
</geometry>
|
| 172 |
+
</visual>
|
| 173 |
+
<collision name="head_pan_link-col-0">
|
| 174 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 175 |
+
<geometry>
|
| 176 |
+
<mesh filename="meshes/collision/head_pan_link-col-0.obj" scale="0.3262003677591886 0.28610970271791636 0.11650549184488548" />
|
| 177 |
+
</geometry>
|
| 178 |
+
</collision>
|
| 179 |
+
</link>
|
| 180 |
+
<joint name="head_pan_joint" type="revolute">
|
| 181 |
+
<origin rpy="0 0 0" xyz="0.053125 0 0.603001417713939" />
|
| 182 |
+
<parent link="torso_lift_link" />
|
| 183 |
+
<child link="head_pan_link" />
|
| 184 |
+
<axis xyz="0 0 1" />
|
| 185 |
+
<limit effort="0.32" lower="-1.57" upper="1.57" velocity="1.57" />
|
| 186 |
+
</joint>
|
| 187 |
+
<link name="head_tilt_link">
|
| 188 |
+
<inertial>
|
| 189 |
+
<origin rpy="0 0 0" xyz="0.0081 0.0025 0.0113" />
|
| 190 |
+
<mass value="0.9087" />
|
| 191 |
+
<inertia ixx="0.0061" ixy="-0.0" ixz="0.0002" iyy="0.0014" iyz="-0.0001" izz="0.0061" />
|
| 192 |
+
</inertial>
|
| 193 |
+
<visual>
|
| 194 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 195 |
+
<geometry>
|
| 196 |
+
<mesh filename="meshes/head_tilt_link.obj" />
|
| 197 |
+
</geometry>
|
| 198 |
+
</visual>
|
| 199 |
+
<collision name="head_tilt_link-col-0">
|
| 200 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 201 |
+
<geometry>
|
| 202 |
+
<mesh filename="meshes/collision/head_tilt_link-col-0.obj" scale="0.11032625728216233 0.2110277534738148 0.11019709682745452" />
|
| 203 |
+
</geometry>
|
| 204 |
+
</collision>
|
| 205 |
+
</link>
|
| 206 |
+
<joint name="head_tilt_joint" type="revolute">
|
| 207 |
+
<origin rpy="0 0.2617993877991494 0" xyz="0.14253 0 0.057999" />
|
| 208 |
+
<parent link="head_pan_link" />
|
| 209 |
+
<child link="head_tilt_link" />
|
| 210 |
+
<axis xyz="0 1 0" />
|
| 211 |
+
<limit effort="0.68" lower="-0.76" upper="1.45" velocity="1.57" />
|
| 212 |
+
</joint>
|
| 213 |
+
<link name="shoulder_pan_link">
|
| 214 |
+
<inertial>
|
| 215 |
+
<origin rpy="0 0 0" xyz="0.0927 -0.0056 0.0564" />
|
| 216 |
+
<mass value="2.5587" />
|
| 217 |
+
<inertia ixx="0.0043" ixy="-0.0001" ixz="0.001" iyy="0.0087" iyz="-0.0001" izz="0.0087" />
|
| 218 |
+
</inertial>
|
| 219 |
+
<visual>
|
| 220 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 221 |
+
<geometry>
|
| 222 |
+
<mesh filename="meshes/shoulder_pan_link.obj" />
|
| 223 |
+
</geometry>
|
| 224 |
+
</visual>
|
| 225 |
+
<collision name="shoulder_pan_link-col-0">
|
| 226 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 227 |
+
<geometry>
|
| 228 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-0.obj" scale="0.23674814934064015 0.07892709002463907 0.1292538061159441" />
|
| 229 |
+
</geometry>
|
| 230 |
+
</collision>
|
| 231 |
+
<collision name="shoulder_pan_link-col-1">
|
| 232 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 233 |
+
<geometry>
|
| 234 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-1.obj" scale="0.0228734698922182 0.04777309085181893 0.04127026897311387" />
|
| 235 |
+
</geometry>
|
| 236 |
+
</collision>
|
| 237 |
+
<collision name="shoulder_pan_link-col-2">
|
| 238 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 239 |
+
<geometry>
|
| 240 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-2.obj" scale="0.10875195860116682 0.05767960685526352 0.09305498023388242" />
|
| 241 |
+
</geometry>
|
| 242 |
+
</collision>
|
| 243 |
+
<collision name="shoulder_pan_link-col-3">
|
| 244 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 245 |
+
<geometry>
|
| 246 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-3.obj" scale="0.00019939911502227237 0.0002680842906162134 0.007066041833549739" />
|
| 247 |
+
</geometry>
|
| 248 |
+
</collision>
|
| 249 |
+
<collision name="shoulder_pan_link-col-4">
|
| 250 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 251 |
+
<geometry>
|
| 252 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-4.obj" scale="0.053895035136557884 0.050360064532079 0.04275797537631672" />
|
| 253 |
+
</geometry>
|
| 254 |
+
</collision>
|
| 255 |
+
<collision name="shoulder_pan_link-col-5">
|
| 256 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 257 |
+
<geometry>
|
| 258 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-5.obj" scale="0.07538139619223647 0.023222826305947367 0.04070852929659032" />
|
| 259 |
+
</geometry>
|
| 260 |
+
</collision>
|
| 261 |
+
<collision name="shoulder_pan_link-col-6">
|
| 262 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 263 |
+
<geometry>
|
| 264 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-6.obj" scale="0.043102808177721295 0.021527654846864364 0.04260887571573117" />
|
| 265 |
+
</geometry>
|
| 266 |
+
</collision>
|
| 267 |
+
<collision name="shoulder_pan_link-col-7">
|
| 268 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 269 |
+
<geometry>
|
| 270 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-7.obj" scale="0.024980598975553322 0.06903018019327653 0.05393032995970591" />
|
| 271 |
+
</geometry>
|
| 272 |
+
</collision>
|
| 273 |
+
</link>
|
| 274 |
+
<joint name="shoulder_pan_joint" type="revolute">
|
| 275 |
+
<origin rpy="0 0 0" xyz="0.119525 0 0.34858" />
|
| 276 |
+
<parent link="torso_lift_link" />
|
| 277 |
+
<child link="shoulder_pan_link" />
|
| 278 |
+
<axis xyz="0 0 1" />
|
| 279 |
+
<dynamics damping="1.0" />
|
| 280 |
+
<limit effort="33.82" lower="-1.6056" upper="1.6056" velocity="1.256" />
|
| 281 |
+
</joint>
|
| 282 |
+
<link name="shoulder_lift_link">
|
| 283 |
+
<inertial>
|
| 284 |
+
<origin rpy="0 0 0" xyz="0.1432 0.0072 -0.0001" />
|
| 285 |
+
<mass value="2.6615" />
|
| 286 |
+
<inertia ixx="0.0028" ixy="-0.0021" ixz="-0.0" iyy="0.0111" iyz="-0.0" izz="0.0112" />
|
| 287 |
+
</inertial>
|
| 288 |
+
<visual>
|
| 289 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 290 |
+
<geometry>
|
| 291 |
+
<mesh filename="meshes/shoulder_lift_link.obj" />
|
| 292 |
+
</geometry>
|
| 293 |
+
</visual>
|
| 294 |
+
<collision name="shoulder_lift_link-col-0">
|
| 295 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 296 |
+
<geometry>
|
| 297 |
+
<mesh filename="meshes/collision/shoulder_lift_link-col-0.obj" scale="0.08023574358346658 0.10775589700289608 0.10736763858923673" />
|
| 298 |
+
</geometry>
|
| 299 |
+
</collision>
|
| 300 |
+
<collision name="shoulder_lift_link-col-1">
|
| 301 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 302 |
+
<geometry>
|
| 303 |
+
<mesh filename="meshes/collision/shoulder_lift_link-col-1.obj" scale="0.11211573759838873 0.07536489940288406 0.12428199468403077" />
|
| 304 |
+
</geometry>
|
| 305 |
+
</collision>
|
| 306 |
+
<collision name="shoulder_lift_link-col-2">
|
| 307 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 308 |
+
<geometry>
|
| 309 |
+
<mesh filename="meshes/collision/shoulder_lift_link-col-2.obj" scale="0.024330112602362702 0.040317073080785026 0.07447553721963279" />
|
| 310 |
+
</geometry>
|
| 311 |
+
</collision>
|
| 312 |
+
<collision name="shoulder_lift_link-col-3">
|
| 313 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 314 |
+
<geometry>
|
| 315 |
+
<mesh filename="meshes/collision/shoulder_lift_link-col-3.obj" scale="0.006750247692460347 0.056602780832294725 0.09018758049475346" />
|
| 316 |
+
</geometry>
|
| 317 |
+
</collision>
|
| 318 |
+
<collision name="shoulder_lift_link-col-4">
|
| 319 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 320 |
+
<geometry>
|
| 321 |
+
<mesh filename="meshes/collision/shoulder_lift_link-col-4.obj" scale="0.025176277925583884 0.050828953060792284 0.09279584104050931" />
|
| 322 |
+
</geometry>
|
| 323 |
+
</collision>
|
| 324 |
+
<collision name="shoulder_lift_link-col-5">
|
| 325 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 326 |
+
<geometry>
|
| 327 |
+
<mesh filename="meshes/collision/shoulder_lift_link-col-5.obj" scale="0.004079859820786166 0.07518112986450999 0.08937131971120835" />
|
| 328 |
+
</geometry>
|
| 329 |
+
</collision>
|
| 330 |
+
<collision name="shoulder_lift_link-col-6">
|
| 331 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 332 |
+
<geometry>
|
| 333 |
+
<mesh filename="meshes/collision/shoulder_lift_link-col-6.obj" scale="0.008197737467600358 0.078513367467066 0.08960087777952352" />
|
| 334 |
+
</geometry>
|
| 335 |
+
</collision>
|
| 336 |
+
</link>
|
| 337 |
+
<joint name="shoulder_lift_joint" type="revolute">
|
| 338 |
+
<origin rpy="0 0 0" xyz="0.117 0 0.0599999999999999" />
|
| 339 |
+
<parent link="shoulder_pan_link" />
|
| 340 |
+
<child link="shoulder_lift_link" />
|
| 341 |
+
<axis xyz="0 1 0" />
|
| 342 |
+
<dynamics damping="1.0" />
|
| 343 |
+
<limit effort="131.76" lower="-1.221" upper="1.518" velocity="1.454" />
|
| 344 |
+
</joint>
|
| 345 |
+
<link name="upperarm_roll_link">
|
| 346 |
+
<inertial>
|
| 347 |
+
<origin rpy="0 0 0" xyz="0.1165 0.0014 0.0000" />
|
| 348 |
+
<mass value="2.3311" />
|
| 349 |
+
<inertia ixx="0.0019" ixy="-0.0001" ixz="0.0" iyy="0.0045" iyz="0.0" izz="0.0047" />
|
| 350 |
+
</inertial>
|
| 351 |
+
<visual>
|
| 352 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 353 |
+
<geometry>
|
| 354 |
+
<mesh filename="meshes/upperarm_roll_link.obj" />
|
| 355 |
+
</geometry>
|
| 356 |
+
</visual>
|
| 357 |
+
<collision name="upperarm_roll_link-col-0">
|
| 358 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 359 |
+
<geometry>
|
| 360 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-0.obj" scale="0.043233682860532696 0.05327495061767486 0.09080570760567572" />
|
| 361 |
+
</geometry>
|
| 362 |
+
</collision>
|
| 363 |
+
<collision name="upperarm_roll_link-col-1">
|
| 364 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 365 |
+
<geometry>
|
| 366 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-1.obj" scale="0.11281594018391577 0.07827567977478422 0.10889152953810272" />
|
| 367 |
+
</geometry>
|
| 368 |
+
</collision>
|
| 369 |
+
<collision name="upperarm_roll_link-col-2">
|
| 370 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 371 |
+
<geometry>
|
| 372 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-2.obj" scale="0.045484158573303124 0.055187385979988145 0.05396868134943281" />
|
| 373 |
+
</geometry>
|
| 374 |
+
</collision>
|
| 375 |
+
<collision name="upperarm_roll_link-col-3">
|
| 376 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 377 |
+
<geometry>
|
| 378 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-3.obj" scale="0.0546307987921341 0.055250778084403256 0.10847771278731014" />
|
| 379 |
+
</geometry>
|
| 380 |
+
</collision>
|
| 381 |
+
<collision name="upperarm_roll_link-col-4">
|
| 382 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 383 |
+
<geometry>
|
| 384 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-4.obj" scale="0.04548394254768131 0.05499992898928734 0.053989512272521675" />
|
| 385 |
+
</geometry>
|
| 386 |
+
</collision>
|
| 387 |
+
<collision name="upperarm_roll_link-col-5">
|
| 388 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 389 |
+
<geometry>
|
| 390 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-5.obj" scale="0.03982818626211557 0.052945424576149085 0.1126849831474127" />
|
| 391 |
+
</geometry>
|
| 392 |
+
</collision>
|
| 393 |
+
<collision name="upperarm_roll_link-col-6">
|
| 394 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 395 |
+
<geometry>
|
| 396 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-6.obj" scale="0.04150117177125734 0.05307073349919302 0.053973939171759605" />
|
| 397 |
+
</geometry>
|
| 398 |
+
</collision>
|
| 399 |
+
<collision name="upperarm_roll_link-col-7">
|
| 400 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 401 |
+
<geometry>
|
| 402 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-7.obj" scale="0.04159199592628728 0.052967941905779935 0.05401047840861174" />
|
| 403 |
+
</geometry>
|
| 404 |
+
</collision>
|
| 405 |
+
</link>
|
| 406 |
+
<joint name="upperarm_roll_joint" type="revolute">
|
| 407 |
+
<origin rpy="0 0 0" xyz="0.219 0 0" />
|
| 408 |
+
<parent link="shoulder_lift_link" />
|
| 409 |
+
<child link="upperarm_roll_link" />
|
| 410 |
+
<axis xyz="1 0 0" />
|
| 411 |
+
<dynamics damping="5.0" />
|
| 412 |
+
<limit effort="76.94" lower="-6.283185307179586" upper="6.283185307179586" velocity="1.571" />
|
| 413 |
+
</joint>
|
| 414 |
+
<link name="elbow_flex_link">
|
| 415 |
+
<inertial>
|
| 416 |
+
<origin rpy="0 0 0" xyz="0.1279 0.0073 0.0000" />
|
| 417 |
+
<mass value="2.1299" />
|
| 418 |
+
<inertia ixx="0.0024" ixy="-0.0016" ixz="0.0" iyy="0.0082" iyz="-0.0" izz="0.0084" />
|
| 419 |
+
</inertial>
|
| 420 |
+
<visual>
|
| 421 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 422 |
+
<geometry>
|
| 423 |
+
<mesh filename="meshes/elbow_flex_link.obj" />
|
| 424 |
+
</geometry>
|
| 425 |
+
</visual>
|
| 426 |
+
<collision name="elbow_flex_link-col-0">
|
| 427 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 428 |
+
<geometry>
|
| 429 |
+
<mesh filename="meshes/collision/elbow_flex_link-col-0.obj" scale="0.10742705962771996 0.05787673604047297 0.10775257645079876" />
|
| 430 |
+
</geometry>
|
| 431 |
+
</collision>
|
| 432 |
+
<collision name="elbow_flex_link-col-1">
|
| 433 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 434 |
+
<geometry>
|
| 435 |
+
<mesh filename="meshes/collision/elbow_flex_link-col-1.obj" scale="0.09249792813430206 0.07229576991964005 0.10806829635221318" />
|
| 436 |
+
</geometry>
|
| 437 |
+
</collision>
|
| 438 |
+
<collision name="elbow_flex_link-col-2">
|
| 439 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 440 |
+
<geometry>
|
| 441 |
+
<mesh filename="meshes/collision/elbow_flex_link-col-2.obj" scale="0.008165029075733743 0.07209655011773493 0.09045328953163051" />
|
| 442 |
+
</geometry>
|
| 443 |
+
</collision>
|
| 444 |
+
<collision name="elbow_flex_link-col-3">
|
| 445 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 446 |
+
<geometry>
|
| 447 |
+
<mesh filename="meshes/collision/elbow_flex_link-col-3.obj" scale="0.02340028989060528 0.05206995106403718 0.0899452079331326" />
|
| 448 |
+
</geometry>
|
| 449 |
+
</collision>
|
| 450 |
+
<collision name="elbow_flex_link-col-4">
|
| 451 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 452 |
+
<geometry>
|
| 453 |
+
<mesh filename="meshes/collision/elbow_flex_link-col-4.obj" scale="0.008394184758965861 0.07121724057644613 0.0897461102725998" />
|
| 454 |
+
</geometry>
|
| 455 |
+
</collision>
|
| 456 |
+
<collision name="elbow_flex_link-col-5">
|
| 457 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 458 |
+
<geometry>
|
| 459 |
+
<mesh filename="meshes/collision/elbow_flex_link-col-5.obj" scale="0.09106222097327452 0.05022600872647629 0.1076323948727465" />
|
| 460 |
+
</geometry>
|
| 461 |
+
</collision>
|
| 462 |
+
</link>
|
| 463 |
+
<joint name="elbow_flex_joint" type="revolute">
|
| 464 |
+
<origin rpy="0 0 0" xyz="0.133 0 0" />
|
| 465 |
+
<parent link="upperarm_roll_link" />
|
| 466 |
+
<child link="elbow_flex_link" />
|
| 467 |
+
<axis xyz="0 1 0" />
|
| 468 |
+
<dynamics damping="1.0" />
|
| 469 |
+
<limit effort="66.18" lower="-2.251" upper="2.251" velocity="1.521" />
|
| 470 |
+
</joint>
|
| 471 |
+
<link name="forearm_roll_link">
|
| 472 |
+
<inertial>
|
| 473 |
+
<origin rpy="0 0 0" xyz="0.1097 -0.0266 0.0000" />
|
| 474 |
+
<mass value="1.6563" />
|
| 475 |
+
<inertia ixx="0.0016" ixy="-0.0003" ixz="0.0" iyy="0.003" iyz="-0.0" izz="0.0035" />
|
| 476 |
+
</inertial>
|
| 477 |
+
<visual>
|
| 478 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 479 |
+
<geometry>
|
| 480 |
+
<mesh filename="meshes/forearm_roll_link.obj" />
|
| 481 |
+
</geometry>
|
| 482 |
+
</visual>
|
| 483 |
+
<collision name="forearm_roll_link-col-0">
|
| 484 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 485 |
+
<geometry>
|
| 486 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-0.obj" scale="0.10921817166108938 0.037120127869555986 0.1086142768585121" />
|
| 487 |
+
</geometry>
|
| 488 |
+
</collision>
|
| 489 |
+
<collision name="forearm_roll_link-col-1">
|
| 490 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 491 |
+
<geometry>
|
| 492 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-1.obj" scale="0.10410858460532649 0.03987168065867325 0.07544517540209343" />
|
| 493 |
+
</geometry>
|
| 494 |
+
</collision>
|
| 495 |
+
<collision name="forearm_roll_link-col-2">
|
| 496 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 497 |
+
<geometry>
|
| 498 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-2.obj" scale="0.02447981412983327 0.0679692432889695 0.026544595519252468" />
|
| 499 |
+
</geometry>
|
| 500 |
+
</collision>
|
| 501 |
+
<collision name="forearm_roll_link-col-3">
|
| 502 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 503 |
+
<geometry>
|
| 504 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-3.obj" scale="0.024217415418487126 0.024099781656170535 0.04493785760723842" />
|
| 505 |
+
</geometry>
|
| 506 |
+
</collision>
|
| 507 |
+
<collision name="forearm_roll_link-col-4">
|
| 508 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 509 |
+
<geometry>
|
| 510 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-4.obj" scale="0.04742100791090131 0.093479086936679 0.10769642442831169" />
|
| 511 |
+
</geometry>
|
| 512 |
+
</collision>
|
| 513 |
+
<collision name="forearm_roll_link-col-5">
|
| 514 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 515 |
+
<geometry>
|
| 516 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-5.obj" scale="0.02612705275487747 0.02443574669527479 0.045006078055148675" />
|
| 517 |
+
</geometry>
|
| 518 |
+
</collision>
|
| 519 |
+
<collision name="forearm_roll_link-col-6">
|
| 520 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 521 |
+
<geometry>
|
| 522 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-6.obj" scale="0.027757616772894785 0.03368523185380254 0.0323782971893902" />
|
| 523 |
+
</geometry>
|
| 524 |
+
</collision>
|
| 525 |
+
<collision name="forearm_roll_link-col-7">
|
| 526 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 527 |
+
<geometry>
|
| 528 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-7.obj" scale="0.024153395543369406 0.034027475543903875 0.016539005761492365" />
|
| 529 |
+
</geometry>
|
| 530 |
+
</collision>
|
| 531 |
+
</link>
|
| 532 |
+
<joint name="forearm_roll_joint" type="revolute">
|
| 533 |
+
<origin rpy="0 0 0" xyz="0.197 0 0" />
|
| 534 |
+
<parent link="elbow_flex_link" />
|
| 535 |
+
<child link="forearm_roll_link" />
|
| 536 |
+
<axis xyz="1 0 0" />
|
| 537 |
+
<dynamics damping="5.0" />
|
| 538 |
+
<limit effort="29.35" lower="-6.283185307179586" upper="6.283185307179586" velocity="1.571" />
|
| 539 |
+
</joint>
|
| 540 |
+
<link name="wrist_flex_link">
|
| 541 |
+
<inertial>
|
| 542 |
+
<origin rpy="0 0 0" xyz="0.0882 0.0009 -0.0001" />
|
| 543 |
+
<mass value="1.725" />
|
| 544 |
+
<inertia ixx="0.0018" ixy="-0.0001" ixz="-0.0" iyy="0.0042" iyz="0.0" izz="0.0042" />
|
| 545 |
+
</inertial>
|
| 546 |
+
<visual>
|
| 547 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 548 |
+
<geometry>
|
| 549 |
+
<mesh filename="meshes/wrist_flex_link.obj" />
|
| 550 |
+
</geometry>
|
| 551 |
+
</visual>
|
| 552 |
+
<collision name="wrist_flex_link-col-0">
|
| 553 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 554 |
+
<geometry>
|
| 555 |
+
<mesh filename="meshes/collision/wrist_flex_link-col-0.obj" scale="0.178137908988157 0.12147886098144775 0.10399886789257294" />
|
| 556 |
+
</geometry>
|
| 557 |
+
</collision>
|
| 558 |
+
</link>
|
| 559 |
+
<joint name="wrist_flex_joint" type="revolute">
|
| 560 |
+
<origin rpy="0 0 0" xyz="0.1245 0 0" />
|
| 561 |
+
<parent link="forearm_roll_link" />
|
| 562 |
+
<child link="wrist_flex_link" />
|
| 563 |
+
<axis xyz="0 1 0" />
|
| 564 |
+
<dynamics damping="1.0" />
|
| 565 |
+
<limit effort="25.7" lower="-2.16" upper="2.16" velocity="2.268" />
|
| 566 |
+
</joint>
|
| 567 |
+
<link name="wrist_roll_link">
|
| 568 |
+
<inertial>
|
| 569 |
+
<origin rpy="0 0 0" xyz="0.0095 0.0004 -0.0002" />
|
| 570 |
+
<mass value="0.1354" />
|
| 571 |
+
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
|
| 572 |
+
</inertial>
|
| 573 |
+
<visual>
|
| 574 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 575 |
+
<geometry>
|
| 576 |
+
<mesh filename="meshes/wrist_roll_link.obj" />
|
| 577 |
+
</geometry>
|
| 578 |
+
</visual>
|
| 579 |
+
<collision name="wrist_roll_link-col-0">
|
| 580 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 581 |
+
<geometry>
|
| 582 |
+
<mesh filename="meshes/collision/wrist_roll_link-col-0.obj" scale="0.04257338753943578 0.1050320878251495 0.1045717472246548" />
|
| 583 |
+
</geometry>
|
| 584 |
+
</collision>
|
| 585 |
+
</link>
|
| 586 |
+
<joint name="wrist_roll_joint" type="revolute">
|
| 587 |
+
<origin rpy="0 0 0" xyz="0.1385 0 0" />
|
| 588 |
+
<parent link="wrist_flex_link" />
|
| 589 |
+
<child link="wrist_roll_link" />
|
| 590 |
+
<axis xyz="1 0 0" />
|
| 591 |
+
<limit effort="7.36" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.268" />
|
| 592 |
+
<dynamics damping="5.0" />
|
| 593 |
+
</joint>
|
| 594 |
+
<link name="gripper_link">
|
| 595 |
+
<inertial>
|
| 596 |
+
<origin rpy="0 0 0" xyz="-0.0900 -0.0001 -0.0017" />
|
| 597 |
+
<mass value="1.5175" />
|
| 598 |
+
<inertia ixx="0.0013" ixy="-0.0" ixz="0.0" iyy="0.0019" iyz="-0.0" izz="0.0024" />
|
| 599 |
+
</inertial>
|
| 600 |
+
<visual>
|
| 601 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 602 |
+
<geometry>
|
| 603 |
+
<mesh filename="meshes/gripper_link.obj" />
|
| 604 |
+
</geometry>
|
| 605 |
+
</visual>
|
| 606 |
+
<collision name="gripper_link-col-0">
|
| 607 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 608 |
+
<geometry>
|
| 609 |
+
<mesh filename="meshes/collision/gripper_link-col-0.obj" scale="0.12201180234828604 0.13213609263469575 0.08787660210757336" />
|
| 610 |
+
</geometry>
|
| 611 |
+
</collision>
|
| 612 |
+
</link>
|
| 613 |
+
<joint name="gripper_axis" type="fixed">
|
| 614 |
+
<origin rpy="0 0 0" xyz="0.16645 0 0" />
|
| 615 |
+
<parent link="wrist_roll_link" />
|
| 616 |
+
<child link="gripper_link" />
|
| 617 |
+
<axis xyz="0 1 0" />
|
| 618 |
+
</joint>
|
| 619 |
+
<link name="r_gripper_finger_link">
|
| 620 |
+
<inertial>
|
| 621 |
+
<origin rpy="0 0 0" xyz="-0.01 0 0" />
|
| 622 |
+
<mass value="0.0798" />
|
| 623 |
+
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
|
| 624 |
+
</inertial>
|
| 625 |
+
<visual>
|
| 626 |
+
<origin rpy="0 0 0" xyz="0 -0.01 0" />
|
| 627 |
+
<geometry>
|
| 628 |
+
<box size="0.06 0.015 0.045" />
|
| 629 |
+
</geometry>
|
| 630 |
+
</visual>
|
| 631 |
+
<collision>
|
| 632 |
+
<origin rpy="0 0 0" xyz="0 -0.01 0" />
|
| 633 |
+
<geometry>
|
| 634 |
+
<box size="0.06 0.015 0.045" />
|
| 635 |
+
</geometry>
|
| 636 |
+
</collision>
|
| 637 |
+
</link>
|
| 638 |
+
<joint name="r_gripper_finger_joint" type="prismatic">
|
| 639 |
+
<origin rpy="0 0 0" xyz="0 0.015425 0" />
|
| 640 |
+
<parent link="gripper_link" />
|
| 641 |
+
<child link="r_gripper_finger_link" />
|
| 642 |
+
<axis xyz="0 1 0" />
|
| 643 |
+
<limit effort="60" lower="0.0" upper="0.05" velocity="0.25" />
|
| 644 |
+
<dynamics damping="0.0" friction="1.0" />
|
| 645 |
+
</joint>
|
| 646 |
+
<link name="l_gripper_finger_link">
|
| 647 |
+
<inertial>
|
| 648 |
+
<origin rpy="0 0 0" xyz="-0.01 0 0" />
|
| 649 |
+
<mass value="0.0798" />
|
| 650 |
+
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
|
| 651 |
+
</inertial>
|
| 652 |
+
<visual>
|
| 653 |
+
<origin rpy="0 0 0" xyz="0 0.01 0" />
|
| 654 |
+
<geometry>
|
| 655 |
+
<box size="0.06 0.015 0.045" />
|
| 656 |
+
</geometry>
|
| 657 |
+
</visual>
|
| 658 |
+
<collision>
|
| 659 |
+
<origin rpy="0 0 0" xyz="0 0.01 0" />
|
| 660 |
+
<geometry>
|
| 661 |
+
<box size="0.06 0.015 0.045" />
|
| 662 |
+
</geometry>
|
| 663 |
+
</collision>
|
| 664 |
+
</link>
|
| 665 |
+
<joint name="l_gripper_finger_joint" type="prismatic">
|
| 666 |
+
<origin rpy="0 0 0" xyz="0 -0.015425 0" />
|
| 667 |
+
<parent link="gripper_link" />
|
| 668 |
+
<child link="l_gripper_finger_link" />
|
| 669 |
+
<axis xyz="0 -1 0" />
|
| 670 |
+
<limit effort="60" lower="0.0" upper="0.05" velocity="0.25" />
|
| 671 |
+
<dynamics damping="0.0" friction="1.0" />
|
| 672 |
+
</joint>
|
| 673 |
+
<link name="estop_link">
|
| 674 |
+
<inertial>
|
| 675 |
+
<origin rpy="0 0 0" xyz="0.002434512737072 -0.00330608315239905 0.00665139196650039" />
|
| 676 |
+
<mass value="0.00196130439134723" />
|
| 677 |
+
<inertia ixx="3.02810026604417E-07" ixy="-1.5862023118056E-08" ixz="3.16561396557437E-08" iyy="2.93322917127605E-07" iyz="-4.28833522751273E-08" izz="2.28513272627183E-07" />
|
| 678 |
+
</inertial>
|
| 679 |
+
<visual>
|
| 680 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 681 |
+
<geometry>
|
| 682 |
+
<mesh filename="meshes/estop_link.obj" />
|
| 683 |
+
</geometry>
|
| 684 |
+
<material name="">
|
| 685 |
+
<color rgba="0.8 0 0 1" />
|
| 686 |
+
</material>
|
| 687 |
+
</visual>
|
| 688 |
+
</link>
|
| 689 |
+
<joint name="estop_joint" type="fixed">
|
| 690 |
+
<origin rpy="1.5708 0 0" xyz="-0.12465 0.23892 0.31127" />
|
| 691 |
+
<parent link="base_link" />
|
| 692 |
+
<child link="estop_link" />
|
| 693 |
+
<axis xyz="0 0 0" />
|
| 694 |
+
</joint>
|
| 695 |
+
<link name="laser_link">
|
| 696 |
+
<inertial>
|
| 697 |
+
<origin rpy="0 0 0" xyz="-0.0306228970175641 0.0007091682908278 0.0551974119471302" />
|
| 698 |
+
<mass value="0.00833634573995571" />
|
| 699 |
+
<inertia ixx="1.01866461240801E-06" ixy="-5.88447626567756E-08" ixz="7.83857244757914E-08" iyy="5.10039589974707E-07" iyz="-7.12664289617235E-09" izz="1.28270671527309E-06" />
|
| 700 |
+
</inertial>
|
| 701 |
+
<visual>
|
| 702 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 703 |
+
<geometry>
|
| 704 |
+
<mesh filename="meshes/laser_link.obj" />
|
| 705 |
+
</geometry>
|
| 706 |
+
</visual>
|
| 707 |
+
</link>
|
| 708 |
+
<joint name="laser_joint" type="fixed">
|
| 709 |
+
<origin rpy="3.14159265359 0 0" xyz="0.235 0 0.2878" />
|
| 710 |
+
<parent link="base_link" />
|
| 711 |
+
<child link="laser_link" />
|
| 712 |
+
<axis xyz="0 0 0" />
|
| 713 |
+
</joint>
|
| 714 |
+
<link name="torso_fixed_link">
|
| 715 |
+
<inertial>
|
| 716 |
+
<origin rpy="0 0 0" xyz="-0.0722 0.0057 0.2656" />
|
| 717 |
+
<mass value="13.2775" />
|
| 718 |
+
<inertia ixx="0.3861" ixy="0.0015" ixz="-0.0102" iyy="0.3388" iyz="0.0117" izz="0.1018" />
|
| 719 |
+
</inertial>
|
| 720 |
+
<visual>
|
| 721 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 722 |
+
<geometry>
|
| 723 |
+
<mesh filename="meshes/torso_fixed_link.obj" />
|
| 724 |
+
</geometry>
|
| 725 |
+
</visual>
|
| 726 |
+
<collision name="torso_fixed_link-col-0">
|
| 727 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 728 |
+
<geometry>
|
| 729 |
+
<mesh filename="meshes/collision/torso_fixed_link-col-0.obj" scale="0.13622299999999998 0.3107 0.461875" />
|
| 730 |
+
</geometry>
|
| 731 |
+
</collision>
|
| 732 |
+
</link>
|
| 733 |
+
<joint name="torso_fixed_joint" type="fixed">
|
| 734 |
+
<origin rpy="-6.12303176911189E-17 0 0" xyz="-0.086875 0 0.377425" />
|
| 735 |
+
<parent link="base_link" />
|
| 736 |
+
<child link="torso_fixed_link" />
|
| 737 |
+
<axis xyz="0 1 0" />
|
| 738 |
+
</joint>
|
| 739 |
+
<link name="head_camera_link">
|
| 740 |
+
<inertial>
|
| 741 |
+
<mass value="0.0001" />
|
| 742 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 743 |
+
<inertia ixx="0.0000001" ixy="0.0" ixz="0.0" iyy="0.0000001" iyz="0.0" izz="0.0000001" />
|
| 744 |
+
</inertial>
|
| 745 |
+
</link>
|
| 746 |
+
<joint name="head_camera_joint" type="fixed">
|
| 747 |
+
<origin rpy="0 0 0" xyz="0.055 0 0.0225" />
|
| 748 |
+
<parent link="head_tilt_link" />
|
| 749 |
+
<child link="head_camera_link" />
|
| 750 |
+
</joint>
|
| 751 |
+
<link name="head_camera_rgb_frame">
|
| 752 |
+
<inertial>
|
| 753 |
+
<mass value="0.0001" />
|
| 754 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 755 |
+
<inertia ixx="0.0000001" ixy="0.0" ixz="0.0" iyy="0.0000001" iyz="0.0" izz="0.0000001" />
|
| 756 |
+
</inertial>
|
| 757 |
+
</link>
|
| 758 |
+
<joint name="head_camera_rgb_joint" type="fixed">
|
| 759 |
+
<origin rpy="0 0 0" xyz="0 0.02 0" />
|
| 760 |
+
<parent link="head_camera_link" />
|
| 761 |
+
<child link="head_camera_rgb_frame" />
|
| 762 |
+
</joint>
|
| 763 |
+
<link name="head_camera_rgb_optical_frame">
|
| 764 |
+
<inertial>
|
| 765 |
+
<mass value="0.0001" />
|
| 766 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 767 |
+
<inertia ixx="0.0000001" ixy="0.0" ixz="0.0" iyy="0.0000001" iyz="0.0" izz="0.0000001" />
|
| 768 |
+
</inertial>
|
| 769 |
+
</link>
|
| 770 |
+
<joint name="head_camera_rgb_optical_joint" type="fixed">
|
| 771 |
+
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0" />
|
| 772 |
+
<parent link="head_camera_rgb_frame" />
|
| 773 |
+
<child link="head_camera_rgb_optical_frame" />
|
| 774 |
+
</joint>
|
| 775 |
+
<link name="head_camera_depth_frame">
|
| 776 |
+
<inertial>
|
| 777 |
+
<mass value="0.0001" />
|
| 778 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 779 |
+
<inertia ixx="0.0000001" ixy="0.0" ixz="0.0" iyy="0.0000001" iyz="0.0" izz="0.0000001" />
|
| 780 |
+
</inertial>
|
| 781 |
+
</link>
|
| 782 |
+
<joint name="head_camera_depth_joint" type="fixed">
|
| 783 |
+
<origin rpy="0 0 0" xyz="0 0.045 0" />
|
| 784 |
+
<parent link="head_camera_link" />
|
| 785 |
+
<child link="head_camera_depth_frame" />
|
| 786 |
+
</joint>
|
| 787 |
+
<link name="head_camera_depth_optical_frame">
|
| 788 |
+
<inertial>
|
| 789 |
+
<mass value="0.0001" />
|
| 790 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 791 |
+
<inertia ixx="0.0000001" ixy="0.0" ixz="0.0" iyy="0.0000001" iyz="0.0" izz="0.0000001" />
|
| 792 |
+
</inertial>
|
| 793 |
+
</link>
|
| 794 |
+
<joint name="head_camera_depth_optical_joint" type="fixed">
|
| 795 |
+
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0" />
|
| 796 |
+
<parent link="head_camera_depth_frame" />
|
| 797 |
+
<child link="head_camera_depth_optical_frame" />
|
| 798 |
+
</joint>
|
| 799 |
+
<link name="eyes">
|
| 800 |
+
<inertial>
|
| 801 |
+
<mass value="0.001" />
|
| 802 |
+
<origin xyz="0 0 0" />
|
| 803 |
+
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
|
| 804 |
+
</inertial>
|
| 805 |
+
</link>
|
| 806 |
+
<joint name="eye_joint" type="fixed">
|
| 807 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 808 |
+
<parent link="head_camera_link" />
|
| 809 |
+
<child link="eyes" />
|
| 810 |
+
</joint>
|
| 811 |
+
</robot>
|
omnigibson-robot-assets/models/fetch/urdf/fetch_original.urdf
ADDED
|
@@ -0,0 +1,589 @@
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="fetch">
|
| 3 |
+
<link name="base_link">
|
| 4 |
+
<inertial>
|
| 5 |
+
<origin rpy="0 0 0" xyz="-0.0036 0.0 0.0014" />
|
| 6 |
+
<mass value="70.1294" />
|
| 7 |
+
<inertia ixx="1.225" ixy="0.0099" ixz="0.0062" iyy="1.2853" iyz="-0.0034" izz="0.987" />
|
| 8 |
+
</inertial>
|
| 9 |
+
<visual>
|
| 10 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 11 |
+
<geometry>
|
| 12 |
+
<mesh filename="meshes/base_link.obj" />
|
| 13 |
+
</geometry>
|
| 14 |
+
</visual>
|
| 15 |
+
<collision>
|
| 16 |
+
<origin rpy="0 0 0" xyz="0 0 0.0" />
|
| 17 |
+
<geometry>
|
| 18 |
+
<mesh filename="meshes/base_link_collision.STL" />
|
| 19 |
+
</geometry>
|
| 20 |
+
</collision>
|
| 21 |
+
<contact>
|
| 22 |
+
<lateral_friction value="0.0" />
|
| 23 |
+
<rolling_friction value="0.0" />
|
| 24 |
+
<stiffness value="300000" />
|
| 25 |
+
<damping value="30000" />
|
| 26 |
+
</contact>
|
| 27 |
+
</link>
|
| 28 |
+
<link name="r_wheel_link">
|
| 29 |
+
<inertial>
|
| 30 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 31 |
+
<mass value="4.3542" />
|
| 32 |
+
<inertia ixx="0.0045" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.0045" />
|
| 33 |
+
</inertial>
|
| 34 |
+
<visual>
|
| 35 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 36 |
+
<geometry>
|
| 37 |
+
<mesh filename="meshes/r_wheel_link.obj" />
|
| 38 |
+
</geometry>
|
| 39 |
+
</visual>
|
| 40 |
+
<collision>
|
| 41 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 42 |
+
<geometry>
|
| 43 |
+
<sphere radius="0.0613" />
|
| 44 |
+
</geometry>
|
| 45 |
+
</collision>
|
| 46 |
+
<contact>
|
| 47 |
+
<lateral_friction value="1.0" />
|
| 48 |
+
<rolling_friction value="0.0" />
|
| 49 |
+
<stiffness value="300000" />
|
| 50 |
+
<damping value="30000" />
|
| 51 |
+
</contact>
|
| 52 |
+
</link>
|
| 53 |
+
<joint name="r_wheel_joint" type="continuous">
|
| 54 |
+
<origin rpy="-6.123E-17 0 0" xyz="0.0012914 -0.18738 0.06" />
|
| 55 |
+
<parent link="base_link" />
|
| 56 |
+
<child link="r_wheel_link" />
|
| 57 |
+
<axis xyz="0 1 0" />
|
| 58 |
+
<limit effort="8.85" velocity="17.4" />
|
| 59 |
+
</joint>
|
| 60 |
+
<link name="l_wheel_link">
|
| 61 |
+
<inertial>
|
| 62 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 63 |
+
<mass value="4.3542" />
|
| 64 |
+
<inertia ixx="0.0045" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.0045" />
|
| 65 |
+
</inertial>
|
| 66 |
+
<visual>
|
| 67 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 68 |
+
<geometry>
|
| 69 |
+
<mesh filename="meshes/l_wheel_link.obj" />
|
| 70 |
+
</geometry>
|
| 71 |
+
</visual>
|
| 72 |
+
<collision>
|
| 73 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 74 |
+
<geometry>
|
| 75 |
+
<sphere radius="0.0613" />
|
| 76 |
+
</geometry>
|
| 77 |
+
</collision>
|
| 78 |
+
<contact>
|
| 79 |
+
<lateral_friction value="1.0" />
|
| 80 |
+
<rolling_friction value="0.0" />
|
| 81 |
+
<stiffness value="300000" />
|
| 82 |
+
<damping value="30000" />
|
| 83 |
+
</contact>
|
| 84 |
+
</link>
|
| 85 |
+
<joint name="l_wheel_joint" type="continuous">
|
| 86 |
+
<origin rpy="-6.123E-17 0 0" xyz="0.0012914 0.18738 0.06" />
|
| 87 |
+
<parent link="base_link" />
|
| 88 |
+
<child link="l_wheel_link" />
|
| 89 |
+
<axis xyz="0 1 0" />
|
| 90 |
+
<limit effort="8.85" velocity="17.4" />
|
| 91 |
+
</joint>
|
| 92 |
+
<link name="torso_lift_link">
|
| 93 |
+
<inertial>
|
| 94 |
+
<origin rpy="0 0 0" xyz="-0.0013 -0.0009 0.2935" />
|
| 95 |
+
<mass value="10.7796" />
|
| 96 |
+
<inertia ixx="0.3354" ixy="0.0" ixz="-0.0162" iyy="0.3354" iyz="-0.0006" izz="0.0954" />
|
| 97 |
+
</inertial>
|
| 98 |
+
<visual>
|
| 99 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 100 |
+
<geometry>
|
| 101 |
+
<mesh filename="meshes/torso_lift_link.obj" />
|
| 102 |
+
</geometry>
|
| 103 |
+
</visual>
|
| 104 |
+
<collision>
|
| 105 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 106 |
+
<geometry>
|
| 107 |
+
<mesh filename="meshes/torso_lift_link_collision.STL" />
|
| 108 |
+
</geometry>
|
| 109 |
+
</collision>
|
| 110 |
+
</link>
|
| 111 |
+
<joint name="torso_lift_joint" type="prismatic">
|
| 112 |
+
<origin rpy="-6.123E-17 0 0" xyz="-0.086875 0 0.37743" />
|
| 113 |
+
<parent link="base_link" />
|
| 114 |
+
<child link="torso_lift_link" />
|
| 115 |
+
<axis xyz="0 0 1" />
|
| 116 |
+
<limit effort="450.0" lower="0" upper="0.38615" velocity="0.1" />
|
| 117 |
+
<dynamics damping="100.0" />
|
| 118 |
+
</joint>
|
| 119 |
+
<link name="head_pan_link">
|
| 120 |
+
<inertial>
|
| 121 |
+
<origin rpy="0 0 0" xyz="0.0321 0.0161 0.0390" />
|
| 122 |
+
<mass value="2.2556" />
|
| 123 |
+
<inertia ixx="0.0129" ixy="0.0002" ixz="0.0007" iyy="0.0095" iyz="-0.0" izz="0.0184" />
|
| 124 |
+
</inertial>
|
| 125 |
+
<visual>
|
| 126 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 127 |
+
<geometry>
|
| 128 |
+
<mesh filename="meshes/head_pan_link.obj" />
|
| 129 |
+
</geometry>
|
| 130 |
+
</visual>
|
| 131 |
+
<collision>
|
| 132 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 133 |
+
<geometry>
|
| 134 |
+
<mesh filename="meshes/head_pan_link_collision.STL" />
|
| 135 |
+
</geometry>
|
| 136 |
+
</collision>
|
| 137 |
+
</link>
|
| 138 |
+
<joint name="head_pan_joint" type="revolute">
|
| 139 |
+
<origin rpy="0 0 0" xyz="0.053125 0 0.603001417713939" />
|
| 140 |
+
<parent link="torso_lift_link" />
|
| 141 |
+
<child link="head_pan_link" />
|
| 142 |
+
<axis xyz="0 0 1" />
|
| 143 |
+
<limit effort="0.32" lower="-1.57" upper="1.57" velocity="1.57" />
|
| 144 |
+
</joint>
|
| 145 |
+
<link name="head_tilt_link">
|
| 146 |
+
<inertial>
|
| 147 |
+
<origin rpy="0 0 0" xyz="0.0081 0.0025 0.0113" />
|
| 148 |
+
<mass value="0.9087" />
|
| 149 |
+
<inertia ixx="0.0061" ixy="-0.0" ixz="0.0002" iyy="0.0014" iyz="-0.0001" izz="0.0061" />
|
| 150 |
+
</inertial>
|
| 151 |
+
<visual>
|
| 152 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 153 |
+
<geometry>
|
| 154 |
+
<mesh filename="meshes/head_tilt_link.obj" />
|
| 155 |
+
</geometry>
|
| 156 |
+
</visual>
|
| 157 |
+
<collision>
|
| 158 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 159 |
+
<geometry>
|
| 160 |
+
<mesh filename="meshes/head_tilt_link_collision.STL" />
|
| 161 |
+
</geometry>
|
| 162 |
+
</collision>
|
| 163 |
+
</link>
|
| 164 |
+
<joint name="head_tilt_joint" type="revolute">
|
| 165 |
+
<origin rpy="0 0.2617993877991494 0" xyz="0.14253 0 0.057999" />
|
| 166 |
+
<parent link="head_pan_link" />
|
| 167 |
+
<child link="head_tilt_link" />
|
| 168 |
+
<axis xyz="0 1 0" />
|
| 169 |
+
<limit effort="0.68" lower="-0.76" upper="1.45" velocity="1.57" />
|
| 170 |
+
</joint>
|
| 171 |
+
<link name="shoulder_pan_link">
|
| 172 |
+
<inertial>
|
| 173 |
+
<origin rpy="0 0 0" xyz="0.0927 -0.0056 0.0564" />
|
| 174 |
+
<mass value="2.5587" />
|
| 175 |
+
<inertia ixx="0.0043" ixy="-0.0001" ixz="0.001" iyy="0.0087" iyz="-0.0001" izz="0.0087" />
|
| 176 |
+
</inertial>
|
| 177 |
+
<visual>
|
| 178 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 179 |
+
<geometry>
|
| 180 |
+
<mesh filename="meshes/shoulder_pan_link.obj" />
|
| 181 |
+
</geometry>
|
| 182 |
+
</visual>
|
| 183 |
+
<collision>
|
| 184 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 185 |
+
<geometry>
|
| 186 |
+
<mesh filename="meshes/shoulder_pan_link_collision.STL" />
|
| 187 |
+
</geometry>
|
| 188 |
+
</collision>
|
| 189 |
+
</link>
|
| 190 |
+
<joint name="shoulder_pan_joint" type="revolute">
|
| 191 |
+
<origin rpy="0 0 0" xyz="0.119525 0 0.34858" />
|
| 192 |
+
<parent link="torso_lift_link" />
|
| 193 |
+
<child link="shoulder_pan_link" />
|
| 194 |
+
<axis xyz="0 0 1" />
|
| 195 |
+
<dynamics damping="1.0" />
|
| 196 |
+
<limit effort="33.82" lower="-1.6056" upper="1.6056" velocity="1.256" />
|
| 197 |
+
</joint>
|
| 198 |
+
<link name="shoulder_lift_link">
|
| 199 |
+
<inertial>
|
| 200 |
+
<origin rpy="0 0 0" xyz="0.1432 0.0072 -0.0001" />
|
| 201 |
+
<mass value="2.6615" />
|
| 202 |
+
<inertia ixx="0.0028" ixy="-0.0021" ixz="-0.0" iyy="0.0111" iyz="-0.0" izz="0.0112" />
|
| 203 |
+
</inertial>
|
| 204 |
+
<visual>
|
| 205 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 206 |
+
<geometry>
|
| 207 |
+
<mesh filename="meshes/shoulder_lift_link.obj" />
|
| 208 |
+
</geometry>
|
| 209 |
+
</visual>
|
| 210 |
+
<collision>
|
| 211 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 212 |
+
<geometry>
|
| 213 |
+
<mesh filename="meshes/shoulder_lift_link_collision.STL" />
|
| 214 |
+
</geometry>
|
| 215 |
+
</collision>
|
| 216 |
+
</link>
|
| 217 |
+
<joint name="shoulder_lift_joint" type="revolute">
|
| 218 |
+
<origin rpy="0 0 0" xyz="0.117 0 0.0599999999999999" />
|
| 219 |
+
<parent link="shoulder_pan_link" />
|
| 220 |
+
<child link="shoulder_lift_link" />
|
| 221 |
+
<axis xyz="0 1 0" />
|
| 222 |
+
<dynamics damping="1.0" />
|
| 223 |
+
<limit effort="131.76" lower="-1.221" upper="1.518" velocity="1.454" />
|
| 224 |
+
</joint>
|
| 225 |
+
<link name="upperarm_roll_link">
|
| 226 |
+
<inertial>
|
| 227 |
+
<origin rpy="0 0 0" xyz="0.1165 0.0014 0.0000" />
|
| 228 |
+
<mass value="2.3311" />
|
| 229 |
+
<inertia ixx="0.0019" ixy="-0.0001" ixz="0.0" iyy="0.0045" iyz="0.0" izz="0.0047" />
|
| 230 |
+
</inertial>
|
| 231 |
+
<visual>
|
| 232 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 233 |
+
<geometry>
|
| 234 |
+
<mesh filename="meshes/upperarm_roll_link.obj" />
|
| 235 |
+
</geometry>
|
| 236 |
+
</visual>
|
| 237 |
+
<collision>
|
| 238 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 239 |
+
<geometry>
|
| 240 |
+
<mesh filename="meshes/upperarm_roll_link_collision.STL" />
|
| 241 |
+
</geometry>
|
| 242 |
+
</collision>
|
| 243 |
+
</link>
|
| 244 |
+
<joint name="upperarm_roll_joint" type="revolute">
|
| 245 |
+
<origin rpy="0 0 0" xyz="0.219 0 0" />
|
| 246 |
+
<parent link="shoulder_lift_link" />
|
| 247 |
+
<child link="upperarm_roll_link" />
|
| 248 |
+
<axis xyz="1 0 0" />
|
| 249 |
+
<dynamics damping="5.0" />
|
| 250 |
+
<limit effort="76.94" lower="-6.283185307179586" upper="6.283185307179586" velocity="1.571" />
|
| 251 |
+
</joint>
|
| 252 |
+
<link name="elbow_flex_link">
|
| 253 |
+
<inertial>
|
| 254 |
+
<origin rpy="0 0 0" xyz="0.1279 0.0073 0.0000" />
|
| 255 |
+
<mass value="2.1299" />
|
| 256 |
+
<inertia ixx="0.0024" ixy="-0.0016" ixz="0.0" iyy="0.0082" iyz="-0.0" izz="0.0084" />
|
| 257 |
+
</inertial>
|
| 258 |
+
<visual>
|
| 259 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 260 |
+
<geometry>
|
| 261 |
+
<mesh filename="meshes/elbow_flex_link.obj" />
|
| 262 |
+
</geometry>
|
| 263 |
+
</visual>
|
| 264 |
+
<collision>
|
| 265 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 266 |
+
<geometry>
|
| 267 |
+
<mesh filename="meshes/elbow_flex_link_collision.STL" />
|
| 268 |
+
</geometry>
|
| 269 |
+
</collision>
|
| 270 |
+
</link>
|
| 271 |
+
<joint name="elbow_flex_joint" type="revolute">
|
| 272 |
+
<origin rpy="0 0 0" xyz="0.133 0 0" />
|
| 273 |
+
<parent link="upperarm_roll_link" />
|
| 274 |
+
<child link="elbow_flex_link" />
|
| 275 |
+
<axis xyz="0 1 0" />
|
| 276 |
+
<dynamics damping="1.0" />
|
| 277 |
+
<limit effort="66.18" lower="-2.251" upper="2.251" velocity="1.521" />
|
| 278 |
+
</joint>
|
| 279 |
+
<link name="forearm_roll_link">
|
| 280 |
+
<inertial>
|
| 281 |
+
<origin rpy="0 0 0" xyz="0.1097 -0.0266 0.0000" />
|
| 282 |
+
<mass value="1.6563" />
|
| 283 |
+
<inertia ixx="0.0016" ixy="-0.0003" ixz="0.0" iyy="0.003" iyz="-0.0" izz="0.0035" />
|
| 284 |
+
</inertial>
|
| 285 |
+
<visual>
|
| 286 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 287 |
+
<geometry>
|
| 288 |
+
<mesh filename="meshes/forearm_roll_link.obj" />
|
| 289 |
+
</geometry>
|
| 290 |
+
</visual>
|
| 291 |
+
<collision>
|
| 292 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 293 |
+
<geometry>
|
| 294 |
+
<mesh filename="meshes/forearm_roll_link_collision.STL" />
|
| 295 |
+
</geometry>
|
| 296 |
+
</collision>
|
| 297 |
+
</link>
|
| 298 |
+
<joint name="forearm_roll_joint" type="revolute">
|
| 299 |
+
<origin rpy="0 0 0" xyz="0.197 0 0" />
|
| 300 |
+
<parent link="elbow_flex_link" />
|
| 301 |
+
<child link="forearm_roll_link" />
|
| 302 |
+
<axis xyz="1 0 0" />
|
| 303 |
+
<dynamics damping="5.0" />
|
| 304 |
+
<limit effort="29.35" lower="-6.283185307179586" upper="6.283185307179586" velocity="1.571" />
|
| 305 |
+
</joint>
|
| 306 |
+
<link name="wrist_flex_link">
|
| 307 |
+
<inertial>
|
| 308 |
+
<origin rpy="0 0 0" xyz="0.0882 0.0009 -0.0001" />
|
| 309 |
+
<mass value="1.725" />
|
| 310 |
+
<inertia ixx="0.0018" ixy="-0.0001" ixz="-0.0" iyy="0.0042" iyz="0.0" izz="0.0042" />
|
| 311 |
+
</inertial>
|
| 312 |
+
<visual>
|
| 313 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 314 |
+
<geometry>
|
| 315 |
+
<mesh filename="meshes/wrist_flex_link.obj" />
|
| 316 |
+
</geometry>
|
| 317 |
+
</visual>
|
| 318 |
+
<collision>
|
| 319 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 320 |
+
<geometry>
|
| 321 |
+
<mesh filename="meshes/wrist_flex_link_collision.STL" />
|
| 322 |
+
</geometry>
|
| 323 |
+
</collision>
|
| 324 |
+
</link>
|
| 325 |
+
<joint name="wrist_flex_joint" type="revolute">
|
| 326 |
+
<origin rpy="0 0 0" xyz="0.1245 0 0" />
|
| 327 |
+
<parent link="forearm_roll_link" />
|
| 328 |
+
<child link="wrist_flex_link" />
|
| 329 |
+
<axis xyz="0 1 0" />
|
| 330 |
+
<dynamics damping="1.0" />
|
| 331 |
+
<limit effort="25.7" lower="-2.16" upper="2.16" velocity="2.268" />
|
| 332 |
+
</joint>
|
| 333 |
+
<link name="wrist_roll_link">
|
| 334 |
+
<inertial>
|
| 335 |
+
<origin rpy="0 0 0" xyz="0.0095 0.0004 -0.0002" />
|
| 336 |
+
<mass value="0.1354" />
|
| 337 |
+
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
|
| 338 |
+
</inertial>
|
| 339 |
+
<visual>
|
| 340 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 341 |
+
<geometry>
|
| 342 |
+
<mesh filename="meshes/wrist_roll_link.obj" />
|
| 343 |
+
</geometry>
|
| 344 |
+
</visual>
|
| 345 |
+
<collision>
|
| 346 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 347 |
+
<geometry>
|
| 348 |
+
<mesh filename="meshes/wrist_roll_link_collision.STL" />
|
| 349 |
+
</geometry>
|
| 350 |
+
</collision>
|
| 351 |
+
</link>
|
| 352 |
+
<joint name="wrist_roll_joint" type="revolute">
|
| 353 |
+
<origin rpy="0 0 0" xyz="0.1385 0 0" />
|
| 354 |
+
<parent link="wrist_flex_link" />
|
| 355 |
+
<child link="wrist_roll_link" />
|
| 356 |
+
<axis xyz="1 0 0" />
|
| 357 |
+
<limit effort="7.36" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.268" />
|
| 358 |
+
<dynamics damping="5.0" />
|
| 359 |
+
</joint>
|
| 360 |
+
<link name="gripper_link">
|
| 361 |
+
<inertial>
|
| 362 |
+
<origin rpy="0 0 0" xyz="-0.0900 -0.0001 -0.0017" />
|
| 363 |
+
<mass value="1.5175" />
|
| 364 |
+
<inertia ixx="0.0013" ixy="-0.0" ixz="0.0" iyy="0.0019" iyz="-0.0" izz="0.0024" />
|
| 365 |
+
</inertial>
|
| 366 |
+
<visual>
|
| 367 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 368 |
+
<geometry>
|
| 369 |
+
<mesh filename="meshes/gripper_link.obj" />
|
| 370 |
+
</geometry>
|
| 371 |
+
</visual>
|
| 372 |
+
<collision>
|
| 373 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 374 |
+
<geometry>
|
| 375 |
+
<mesh filename="meshes/gripper_link.obj" />
|
| 376 |
+
</geometry>
|
| 377 |
+
</collision>
|
| 378 |
+
</link>
|
| 379 |
+
<joint name="gripper_axis" type="fixed">
|
| 380 |
+
<origin rpy="0 0 0" xyz="0.16645 0 0" />
|
| 381 |
+
<parent link="wrist_roll_link" />
|
| 382 |
+
<child link="gripper_link" />
|
| 383 |
+
<axis xyz="0 1 0" />
|
| 384 |
+
</joint>
|
| 385 |
+
<link name="r_gripper_finger_link">
|
| 386 |
+
<inertial>
|
| 387 |
+
<origin rpy="0 0 0" xyz="-0.01 0 0" />
|
| 388 |
+
<mass value="0.0798" />
|
| 389 |
+
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
|
| 390 |
+
</inertial>
|
| 391 |
+
<visual>
|
| 392 |
+
<origin rpy="0 0 0" xyz="0 -0.01 0" />
|
| 393 |
+
<geometry>
|
| 394 |
+
<box size="0.06 0.015 0.045" />
|
| 395 |
+
</geometry>
|
| 396 |
+
</visual>
|
| 397 |
+
<collision>
|
| 398 |
+
<origin rpy="0 0 0" xyz="0 -0.01 0" />
|
| 399 |
+
<geometry>
|
| 400 |
+
<box size="0.06 0.015 0.045" />
|
| 401 |
+
</geometry>
|
| 402 |
+
</collision>
|
| 403 |
+
</link>
|
| 404 |
+
<joint name="r_gripper_finger_joint" type="prismatic">
|
| 405 |
+
<origin rpy="0 0 0" xyz="0 0.015425 0" />
|
| 406 |
+
<parent link="gripper_link" />
|
| 407 |
+
<child link="r_gripper_finger_link" />
|
| 408 |
+
<axis xyz="0 1 0" />
|
| 409 |
+
<limit effort="60" lower="0.0" upper="0.05" velocity="0.25" />
|
| 410 |
+
<dynamics damping="0.0" friction="1.0" />
|
| 411 |
+
</joint>
|
| 412 |
+
<link name="l_gripper_finger_link">
|
| 413 |
+
<inertial>
|
| 414 |
+
<origin rpy="0 0 0" xyz="-0.01 0 0" />
|
| 415 |
+
<mass value="0.0798" />
|
| 416 |
+
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
|
| 417 |
+
</inertial>
|
| 418 |
+
<visual>
|
| 419 |
+
<origin rpy="0 0 0" xyz="0 0.01 0" />
|
| 420 |
+
<geometry>
|
| 421 |
+
<box size="0.06 0.015 0.045" />
|
| 422 |
+
</geometry>
|
| 423 |
+
</visual>
|
| 424 |
+
<collision>
|
| 425 |
+
<origin rpy="0 0 0" xyz="0 0.01 0" />
|
| 426 |
+
<geometry>
|
| 427 |
+
<box size="0.06 0.015 0.045" />
|
| 428 |
+
</geometry>
|
| 429 |
+
</collision>
|
| 430 |
+
</link>
|
| 431 |
+
<joint name="l_gripper_finger_joint" type="prismatic">
|
| 432 |
+
<origin rpy="0 0 0" xyz="0 -0.015425 0" />
|
| 433 |
+
<parent link="gripper_link" />
|
| 434 |
+
<child link="l_gripper_finger_link" />
|
| 435 |
+
<axis xyz="0 -1 0" />
|
| 436 |
+
<limit effort="60" lower="0.0" upper="0.05" velocity="0.25" />
|
| 437 |
+
<dynamics damping="0.0" friction="1.0" />
|
| 438 |
+
</joint>
|
| 439 |
+
<link name="estop_link">
|
| 440 |
+
<inertial>
|
| 441 |
+
<origin rpy="0 0 0" xyz="0.002434512737072 -0.00330608315239905 0.00665139196650039" />
|
| 442 |
+
<mass value="0.00196130439134723" />
|
| 443 |
+
<inertia ixx="3.02810026604417E-07" ixy="-1.5862023118056E-08" ixz="3.16561396557437E-08" iyy="2.93322917127605E-07" iyz="-4.28833522751273E-08" izz="2.28513272627183E-07" />
|
| 444 |
+
</inertial>
|
| 445 |
+
<visual>
|
| 446 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 447 |
+
<geometry>
|
| 448 |
+
<mesh filename="meshes/estop_link.obj" />
|
| 449 |
+
</geometry>
|
| 450 |
+
<material name="">
|
| 451 |
+
<color rgba="0.8 0 0 1" />
|
| 452 |
+
</material>
|
| 453 |
+
</visual>
|
| 454 |
+
<collision>
|
| 455 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 456 |
+
<geometry>
|
| 457 |
+
<mesh filename="meshes/estop_link.obj" />
|
| 458 |
+
</geometry>
|
| 459 |
+
</collision>
|
| 460 |
+
</link>
|
| 461 |
+
<joint name="estop_joint" type="fixed">
|
| 462 |
+
<origin rpy="1.5708 0 0" xyz="-0.12465 0.23892 0.31127" />
|
| 463 |
+
<parent link="base_link" />
|
| 464 |
+
<child link="estop_link" />
|
| 465 |
+
<axis xyz="0 0 0" />
|
| 466 |
+
</joint>
|
| 467 |
+
<link name="laser_link">
|
| 468 |
+
<inertial>
|
| 469 |
+
<origin rpy="0 0 0" xyz="-0.0306228970175641 0.0007091682908278 0.0551974119471302" />
|
| 470 |
+
<mass value="0.00833634573995571" />
|
| 471 |
+
<inertia ixx="1.01866461240801E-06" ixy="-5.88447626567756E-08" ixz="7.83857244757914E-08" iyy="5.10039589974707E-07" iyz="-7.12664289617235E-09" izz="1.28270671527309E-06" />
|
| 472 |
+
</inertial>
|
| 473 |
+
<visual>
|
| 474 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 475 |
+
<geometry>
|
| 476 |
+
<mesh filename="meshes/laser_link.obj" />
|
| 477 |
+
</geometry>
|
| 478 |
+
</visual>
|
| 479 |
+
<collision>
|
| 480 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 481 |
+
<geometry>
|
| 482 |
+
<mesh filename="meshes/laser_link.obj" />
|
| 483 |
+
</geometry>
|
| 484 |
+
</collision>
|
| 485 |
+
</link>
|
| 486 |
+
<joint name="laser_joint" type="fixed">
|
| 487 |
+
<origin rpy="3.14159265359 0 0" xyz="0.235 0 0.2878" />
|
| 488 |
+
<parent link="base_link" />
|
| 489 |
+
<child link="laser_link" />
|
| 490 |
+
<axis xyz="0 0 0" />
|
| 491 |
+
</joint>
|
| 492 |
+
<link name="torso_fixed_link">
|
| 493 |
+
<inertial>
|
| 494 |
+
<origin rpy="0 0 0" xyz="-0.0722 0.0057 0.2656" />
|
| 495 |
+
<mass value="13.2775" />
|
| 496 |
+
<inertia ixx="0.3861" ixy="0.0015" ixz="-0.0102" iyy="0.3388" iyz="0.0117" izz="0.1018" />
|
| 497 |
+
</inertial>
|
| 498 |
+
<visual>
|
| 499 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 500 |
+
<geometry>
|
| 501 |
+
<mesh filename="meshes/torso_fixed_link.obj" />
|
| 502 |
+
</geometry>
|
| 503 |
+
</visual>
|
| 504 |
+
<collision>
|
| 505 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 506 |
+
<geometry>
|
| 507 |
+
<mesh filename="meshes/torso_fixed_link.obj" />
|
| 508 |
+
</geometry>
|
| 509 |
+
</collision>
|
| 510 |
+
</link>
|
| 511 |
+
<joint name="torso_fixed_joint" type="fixed">
|
| 512 |
+
<origin rpy="-6.12303176911189E-17 0 0" xyz="-0.086875 0 0.377425" />
|
| 513 |
+
<parent link="base_link" />
|
| 514 |
+
<child link="torso_fixed_link" />
|
| 515 |
+
<axis xyz="0 1 0" />
|
| 516 |
+
</joint>
|
| 517 |
+
<link name="head_camera_link">
|
| 518 |
+
<inertial>
|
| 519 |
+
<mass value="0.0001" />
|
| 520 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 521 |
+
<inertia ixx="0.0000001" ixy="0.0" ixz="0.0" iyy="0.0000001" iyz="0.0" izz="0.0000001" />
|
| 522 |
+
</inertial>
|
| 523 |
+
</link>
|
| 524 |
+
<joint name="head_camera_joint" type="fixed">
|
| 525 |
+
<origin rpy="0 0 0" xyz="0.055 0 0.0225" />
|
| 526 |
+
<parent link="head_tilt_link" />
|
| 527 |
+
<child link="head_camera_link" />
|
| 528 |
+
</joint>
|
| 529 |
+
<link name="head_camera_rgb_frame">
|
| 530 |
+
<inertial>
|
| 531 |
+
<mass value="0.0001" />
|
| 532 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 533 |
+
<inertia ixx="0.0000001" ixy="0.0" ixz="0.0" iyy="0.0000001" iyz="0.0" izz="0.0000001" />
|
| 534 |
+
</inertial>
|
| 535 |
+
</link>
|
| 536 |
+
<joint name="head_camera_rgb_joint" type="fixed">
|
| 537 |
+
<origin rpy="0 0 0" xyz="0 0.02 0" />
|
| 538 |
+
<parent link="head_camera_link" />
|
| 539 |
+
<child link="head_camera_rgb_frame" />
|
| 540 |
+
</joint>
|
| 541 |
+
<link name="head_camera_rgb_optical_frame">
|
| 542 |
+
<inertial>
|
| 543 |
+
<mass value="0.0001" />
|
| 544 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 545 |
+
<inertia ixx="0.0000001" ixy="0.0" ixz="0.0" iyy="0.0000001" iyz="0.0" izz="0.0000001" />
|
| 546 |
+
</inertial>
|
| 547 |
+
</link>
|
| 548 |
+
<joint name="head_camera_rgb_optical_joint" type="fixed">
|
| 549 |
+
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0" />
|
| 550 |
+
<parent link="head_camera_rgb_frame" />
|
| 551 |
+
<child link="head_camera_rgb_optical_frame" />
|
| 552 |
+
</joint>
|
| 553 |
+
<link name="head_camera_depth_frame">
|
| 554 |
+
<inertial>
|
| 555 |
+
<mass value="0.0001" />
|
| 556 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 557 |
+
<inertia ixx="0.0000001" ixy="0.0" ixz="0.0" iyy="0.0000001" iyz="0.0" izz="0.0000001" />
|
| 558 |
+
</inertial>
|
| 559 |
+
</link>
|
| 560 |
+
<joint name="head_camera_depth_joint" type="fixed">
|
| 561 |
+
<origin rpy="0 0 0" xyz="0 0.045 0" />
|
| 562 |
+
<parent link="head_camera_link" />
|
| 563 |
+
<child link="head_camera_depth_frame" />
|
| 564 |
+
</joint>
|
| 565 |
+
<link name="head_camera_depth_optical_frame">
|
| 566 |
+
<inertial>
|
| 567 |
+
<mass value="0.0001" />
|
| 568 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 569 |
+
<inertia ixx="0.0000001" ixy="0.0" ixz="0.0" iyy="0.0000001" iyz="0.0" izz="0.0000001" />
|
| 570 |
+
</inertial>
|
| 571 |
+
</link>
|
| 572 |
+
<joint name="head_camera_depth_optical_joint" type="fixed">
|
| 573 |
+
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0" />
|
| 574 |
+
<parent link="head_camera_depth_frame" />
|
| 575 |
+
<child link="head_camera_depth_optical_frame" />
|
| 576 |
+
</joint>
|
| 577 |
+
<link name="eyes">
|
| 578 |
+
<inertial>
|
| 579 |
+
<mass value="0.001" />
|
| 580 |
+
<origin xyz="0 0 0" />
|
| 581 |
+
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
|
| 582 |
+
</inertial>
|
| 583 |
+
</link>
|
| 584 |
+
<joint name="eye_joint" type="fixed">
|
| 585 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 586 |
+
<parent link="head_camera_link" />
|
| 587 |
+
<child link="eyes" />
|
| 588 |
+
</joint>
|
| 589 |
+
</robot>
|
omnigibson-robot-assets/models/fetch/urdf/fetch_original_mirror.urdf
ADDED
|
@@ -0,0 +1,811 @@
|
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|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="fetch">
|
| 3 |
+
<link name="base_link">
|
| 4 |
+
<inertial>
|
| 5 |
+
<origin rpy="0 0 0" xyz="-0.0036 0.0 0.0014" />
|
| 6 |
+
<mass value="70.1294" />
|
| 7 |
+
<inertia ixx="1.225" ixy="0.0099" ixz="0.0062" iyy="1.2853" iyz="-0.0034" izz="0.987" />
|
| 8 |
+
</inertial>
|
| 9 |
+
<visual>
|
| 10 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 11 |
+
<geometry>
|
| 12 |
+
<mesh filename="meshes/base_link.obj" />
|
| 13 |
+
</geometry>
|
| 14 |
+
</visual>
|
| 15 |
+
<contact>
|
| 16 |
+
<lateral_friction value="0.0" />
|
| 17 |
+
<rolling_friction value="0.0" />
|
| 18 |
+
<stiffness value="300000" />
|
| 19 |
+
<damping value="30000" />
|
| 20 |
+
</contact>
|
| 21 |
+
<collision name="base_link-col-0">
|
| 22 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 23 |
+
<geometry>
|
| 24 |
+
<mesh filename="meshes/collision/base_link-col-0.obj" scale="0.578763986081307 0.5310810167969149 0.35891242319259714" />
|
| 25 |
+
</geometry>
|
| 26 |
+
</collision>
|
| 27 |
+
</link>
|
| 28 |
+
<link name="r_wheel_link">
|
| 29 |
+
<inertial>
|
| 30 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 31 |
+
<mass value="4.3542" />
|
| 32 |
+
<inertia ixx="0.0045" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.0045" />
|
| 33 |
+
</inertial>
|
| 34 |
+
<visual>
|
| 35 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 36 |
+
<geometry>
|
| 37 |
+
<mesh filename="meshes/r_wheel_link.obj" />
|
| 38 |
+
</geometry>
|
| 39 |
+
</visual>
|
| 40 |
+
<collision>
|
| 41 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 42 |
+
<geometry>
|
| 43 |
+
<sphere radius="0.0613" />
|
| 44 |
+
</geometry>
|
| 45 |
+
</collision>
|
| 46 |
+
<contact>
|
| 47 |
+
<lateral_friction value="1.0" />
|
| 48 |
+
<rolling_friction value="0.0" />
|
| 49 |
+
<stiffness value="300000" />
|
| 50 |
+
<damping value="30000" />
|
| 51 |
+
</contact>
|
| 52 |
+
</link>
|
| 53 |
+
<joint name="r_wheel_joint" type="continuous">
|
| 54 |
+
<origin rpy="-6.123E-17 0 0" xyz="0.0012914 -0.18738 0.06" />
|
| 55 |
+
<parent link="base_link" />
|
| 56 |
+
<child link="r_wheel_link" />
|
| 57 |
+
<axis xyz="0 1 0" />
|
| 58 |
+
<limit effort="8.85" velocity="17.4" />
|
| 59 |
+
</joint>
|
| 60 |
+
<link name="l_wheel_link">
|
| 61 |
+
<inertial>
|
| 62 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 63 |
+
<mass value="4.3542" />
|
| 64 |
+
<inertia ixx="0.0045" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.0045" />
|
| 65 |
+
</inertial>
|
| 66 |
+
<visual>
|
| 67 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 68 |
+
<geometry>
|
| 69 |
+
<mesh filename="meshes/l_wheel_link.obj" />
|
| 70 |
+
</geometry>
|
| 71 |
+
</visual>
|
| 72 |
+
<collision>
|
| 73 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 74 |
+
<geometry>
|
| 75 |
+
<sphere radius="0.0613" />
|
| 76 |
+
</geometry>
|
| 77 |
+
</collision>
|
| 78 |
+
<contact>
|
| 79 |
+
<lateral_friction value="1.0" />
|
| 80 |
+
<rolling_friction value="0.0" />
|
| 81 |
+
<stiffness value="300000" />
|
| 82 |
+
<damping value="30000" />
|
| 83 |
+
</contact>
|
| 84 |
+
</link>
|
| 85 |
+
<joint name="l_wheel_joint" type="continuous">
|
| 86 |
+
<origin rpy="-6.123E-17 0 0" xyz="0.0012914 0.18738 0.06" />
|
| 87 |
+
<parent link="base_link" />
|
| 88 |
+
<child link="l_wheel_link" />
|
| 89 |
+
<axis xyz="0 1 0" />
|
| 90 |
+
<limit effort="8.85" velocity="17.4" />
|
| 91 |
+
</joint>
|
| 92 |
+
<link name="torso_lift_link">
|
| 93 |
+
<inertial>
|
| 94 |
+
<origin rpy="0 0 0" xyz="-0.0013 -0.0009 0.2935" />
|
| 95 |
+
<mass value="10.7796" />
|
| 96 |
+
<inertia ixx="0.3354" ixy="0.0" ixz="-0.0162" iyy="0.3354" iyz="-0.0006" izz="0.0954" />
|
| 97 |
+
</inertial>
|
| 98 |
+
<visual>
|
| 99 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 100 |
+
<geometry>
|
| 101 |
+
<mesh filename="meshes/torso_lift_link.obj" />
|
| 102 |
+
</geometry>
|
| 103 |
+
</visual>
|
| 104 |
+
<collision name="torso_lift_link-col-0">
|
| 105 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 106 |
+
<geometry>
|
| 107 |
+
<mesh filename="meshes/collision/torso_lift_link-col-0.obj" scale="0.12525209179928845 0.11468056843414176 0.13191813722037377" />
|
| 108 |
+
</geometry>
|
| 109 |
+
</collision>
|
| 110 |
+
<collision name="torso_lift_link-col-1">
|
| 111 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 112 |
+
<geometry>
|
| 113 |
+
<mesh filename="meshes/collision/torso_lift_link-col-1.obj" scale="0.24096705641297086 0.3527166346431949 0.11189929446912489" />
|
| 114 |
+
</geometry>
|
| 115 |
+
</collision>
|
| 116 |
+
<collision name="torso_lift_link-col-2">
|
| 117 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 118 |
+
<geometry>
|
| 119 |
+
<mesh filename="meshes/collision/torso_lift_link-col-2.obj" scale="0.03296376845994864 0.16283957328927515 0.08082289749684857" />
|
| 120 |
+
</geometry>
|
| 121 |
+
</collision>
|
| 122 |
+
<collision name="torso_lift_link-col-3">
|
| 123 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 124 |
+
<geometry>
|
| 125 |
+
<mesh filename="meshes/collision/torso_lift_link-col-3.obj" scale="0.0869032523834895 0.16886232533953707 0.05984454527672111" />
|
| 126 |
+
</geometry>
|
| 127 |
+
</collision>
|
| 128 |
+
<collision name="torso_lift_link-col-4">
|
| 129 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 130 |
+
<geometry>
|
| 131 |
+
<mesh filename="meshes/collision/torso_lift_link-col-4.obj" scale="0.24204504706078014 0.35493658162117336 0.3114894822566776" />
|
| 132 |
+
</geometry>
|
| 133 |
+
</collision>
|
| 134 |
+
<collision name="torso_lift_link-col-5">
|
| 135 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 136 |
+
<geometry>
|
| 137 |
+
<mesh filename="meshes/collision/torso_lift_link-col-5.obj" scale="0.011709697333178337 0.18473310881121432 0.16212756992602606" />
|
| 138 |
+
</geometry>
|
| 139 |
+
</collision>
|
| 140 |
+
<collision name="torso_lift_link-col-6">
|
| 141 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 142 |
+
<geometry>
|
| 143 |
+
<mesh filename="meshes/collision/torso_lift_link-col-6.obj" scale="0.02205084648886141 0.2891549849267875 0.16211681636811792" />
|
| 144 |
+
</geometry>
|
| 145 |
+
</collision>
|
| 146 |
+
<collision name="torso_lift_link-col-7">
|
| 147 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 148 |
+
<geometry>
|
| 149 |
+
<mesh filename="meshes/collision/torso_lift_link-col-7.obj" scale="0.2070979967919511 0.3529862873889307 0.1621993831698174" />
|
| 150 |
+
</geometry>
|
| 151 |
+
</collision>
|
| 152 |
+
</link>
|
| 153 |
+
<joint name="torso_lift_joint" type="prismatic">
|
| 154 |
+
<origin rpy="-6.123E-17 0 0" xyz="-0.086875 0 0.37743" />
|
| 155 |
+
<parent link="base_link" />
|
| 156 |
+
<child link="torso_lift_link" />
|
| 157 |
+
<axis xyz="0 0 1" />
|
| 158 |
+
<limit effort="450.0" lower="0" upper="0.38615" velocity="0.1" />
|
| 159 |
+
<dynamics damping="100.0" />
|
| 160 |
+
</joint>
|
| 161 |
+
<link name="head_pan_link">
|
| 162 |
+
<inertial>
|
| 163 |
+
<origin rpy="0 0 0" xyz="0.0321 0.0161 0.0390" />
|
| 164 |
+
<mass value="2.2556" />
|
| 165 |
+
<inertia ixx="0.0129" ixy="0.0002" ixz="0.0007" iyy="0.0095" iyz="-0.0" izz="0.0184" />
|
| 166 |
+
</inertial>
|
| 167 |
+
<visual>
|
| 168 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 169 |
+
<geometry>
|
| 170 |
+
<mesh filename="meshes/head_pan_link.obj" />
|
| 171 |
+
</geometry>
|
| 172 |
+
</visual>
|
| 173 |
+
<collision name="head_pan_link-col-0">
|
| 174 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 175 |
+
<geometry>
|
| 176 |
+
<mesh filename="meshes/collision/head_pan_link-col-0.obj" scale="0.3262003677591886 0.28610970271791636 0.11650549184488548" />
|
| 177 |
+
</geometry>
|
| 178 |
+
</collision>
|
| 179 |
+
</link>
|
| 180 |
+
<joint name="head_pan_joint" type="revolute">
|
| 181 |
+
<origin rpy="0 0 0" xyz="0.053125 0 0.603001417713939" />
|
| 182 |
+
<parent link="torso_lift_link" />
|
| 183 |
+
<child link="head_pan_link" />
|
| 184 |
+
<axis xyz="0 0 1" />
|
| 185 |
+
<limit effort="0.32" lower="-1.57" upper="1.57" velocity="1.57" />
|
| 186 |
+
</joint>
|
| 187 |
+
<link name="head_tilt_link">
|
| 188 |
+
<inertial>
|
| 189 |
+
<origin rpy="0 0 0" xyz="0.0081 0.0025 0.0113" />
|
| 190 |
+
<mass value="0.9087" />
|
| 191 |
+
<inertia ixx="0.0061" ixy="-0.0" ixz="0.0002" iyy="0.0014" iyz="-0.0001" izz="0.0061" />
|
| 192 |
+
</inertial>
|
| 193 |
+
<visual>
|
| 194 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 195 |
+
<geometry>
|
| 196 |
+
<mesh filename="meshes/head_tilt_link.obj" />
|
| 197 |
+
</geometry>
|
| 198 |
+
</visual>
|
| 199 |
+
<collision name="head_tilt_link-col-0">
|
| 200 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 201 |
+
<geometry>
|
| 202 |
+
<mesh filename="meshes/collision/head_tilt_link-col-0.obj" scale="0.11032625728216233 0.2110277534738148 0.11019709682745452" />
|
| 203 |
+
</geometry>
|
| 204 |
+
</collision>
|
| 205 |
+
</link>
|
| 206 |
+
<joint name="head_tilt_joint" type="revolute">
|
| 207 |
+
<origin rpy="0 0.2617993877991494 0" xyz="0.14253 0 0.057999" />
|
| 208 |
+
<parent link="head_pan_link" />
|
| 209 |
+
<child link="head_tilt_link" />
|
| 210 |
+
<axis xyz="0 1 0" />
|
| 211 |
+
<limit effort="0.68" lower="-0.76" upper="1.45" velocity="1.57" />
|
| 212 |
+
</joint>
|
| 213 |
+
<link name="shoulder_pan_link">
|
| 214 |
+
<inertial>
|
| 215 |
+
<origin rpy="0 0 0" xyz="0.0927 -0.0056 0.0564" />
|
| 216 |
+
<mass value="2.5587" />
|
| 217 |
+
<inertia ixx="0.0043" ixy="-0.0001" ixz="0.001" iyy="0.0087" iyz="-0.0001" izz="0.0087" />
|
| 218 |
+
</inertial>
|
| 219 |
+
<visual>
|
| 220 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 221 |
+
<geometry>
|
| 222 |
+
<mesh filename="meshes/shoulder_pan_link.obj" />
|
| 223 |
+
</geometry>
|
| 224 |
+
</visual>
|
| 225 |
+
<collision name="shoulder_pan_link-col-0">
|
| 226 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 227 |
+
<geometry>
|
| 228 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-0.obj" scale="0.23674814934064015 0.07892709002463907 0.1292538061159441" />
|
| 229 |
+
</geometry>
|
| 230 |
+
</collision>
|
| 231 |
+
<collision name="shoulder_pan_link-col-1">
|
| 232 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 233 |
+
<geometry>
|
| 234 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-1.obj" scale="0.0228734698922182 0.04777309085181893 0.04127026897311387" />
|
| 235 |
+
</geometry>
|
| 236 |
+
</collision>
|
| 237 |
+
<collision name="shoulder_pan_link-col-2">
|
| 238 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 239 |
+
<geometry>
|
| 240 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-2.obj" scale="0.10875195860116682 0.05767960685526352 0.09305498023388242" />
|
| 241 |
+
</geometry>
|
| 242 |
+
</collision>
|
| 243 |
+
<collision name="shoulder_pan_link-col-3">
|
| 244 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 245 |
+
<geometry>
|
| 246 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-3.obj" scale="0.00019939911502227237 0.0002680842906162134 0.007066041833549739" />
|
| 247 |
+
</geometry>
|
| 248 |
+
</collision>
|
| 249 |
+
<collision name="shoulder_pan_link-col-4">
|
| 250 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 251 |
+
<geometry>
|
| 252 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-4.obj" scale="0.053895035136557884 0.050360064532079 0.04275797537631672" />
|
| 253 |
+
</geometry>
|
| 254 |
+
</collision>
|
| 255 |
+
<collision name="shoulder_pan_link-col-5">
|
| 256 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 257 |
+
<geometry>
|
| 258 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-5.obj" scale="0.07538139619223647 0.023222826305947367 0.04070852929659032" />
|
| 259 |
+
</geometry>
|
| 260 |
+
</collision>
|
| 261 |
+
<collision name="shoulder_pan_link-col-6">
|
| 262 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 263 |
+
<geometry>
|
| 264 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-6.obj" scale="0.043102808177721295 0.021527654846864364 0.04260887571573117" />
|
| 265 |
+
</geometry>
|
| 266 |
+
</collision>
|
| 267 |
+
<collision name="shoulder_pan_link-col-7">
|
| 268 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 269 |
+
<geometry>
|
| 270 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-7.obj" scale="0.024980598975553322 0.06903018019327653 0.05393032995970591" />
|
| 271 |
+
</geometry>
|
| 272 |
+
</collision>
|
| 273 |
+
</link>
|
| 274 |
+
<joint name="shoulder_pan_joint" type="revolute">
|
| 275 |
+
<origin rpy="0 0 0" xyz="0.119525 0 0.34858" />
|
| 276 |
+
<parent link="torso_lift_link" />
|
| 277 |
+
<child link="shoulder_pan_link" />
|
| 278 |
+
<axis xyz="0 0 1" />
|
| 279 |
+
<dynamics damping="1.0" />
|
| 280 |
+
<limit effort="33.82" lower="-1.6056" upper="1.6056" velocity="1.256" />
|
| 281 |
+
</joint>
|
| 282 |
+
<link name="shoulder_lift_link">
|
| 283 |
+
<inertial>
|
| 284 |
+
<origin rpy="0 0 0" xyz="0.1432 0.0072 -0.0001" />
|
| 285 |
+
<mass value="2.6615" />
|
| 286 |
+
<inertia ixx="0.0028" ixy="-0.0021" ixz="-0.0" iyy="0.0111" iyz="-0.0" izz="0.0112" />
|
| 287 |
+
</inertial>
|
| 288 |
+
<visual>
|
| 289 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 290 |
+
<geometry>
|
| 291 |
+
<mesh filename="meshes/shoulder_lift_link.obj" />
|
| 292 |
+
</geometry>
|
| 293 |
+
</visual>
|
| 294 |
+
<collision name="shoulder_lift_link-col-0">
|
| 295 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 296 |
+
<geometry>
|
| 297 |
+
<mesh filename="meshes/collision/shoulder_lift_link-col-0.obj" scale="0.08023574358346658 0.10775589700289608 0.10736763858923673" />
|
| 298 |
+
</geometry>
|
| 299 |
+
</collision>
|
| 300 |
+
<collision name="shoulder_lift_link-col-1">
|
| 301 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 302 |
+
<geometry>
|
| 303 |
+
<mesh filename="meshes/collision/shoulder_lift_link-col-1.obj" scale="0.11211573759838873 0.07536489940288406 0.12428199468403077" />
|
| 304 |
+
</geometry>
|
| 305 |
+
</collision>
|
| 306 |
+
<collision name="shoulder_lift_link-col-2">
|
| 307 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 308 |
+
<geometry>
|
| 309 |
+
<mesh filename="meshes/collision/shoulder_lift_link-col-2.obj" scale="0.024330112602362702 0.040317073080785026 0.07447553721963279" />
|
| 310 |
+
</geometry>
|
| 311 |
+
</collision>
|
| 312 |
+
<collision name="shoulder_lift_link-col-3">
|
| 313 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 314 |
+
<geometry>
|
| 315 |
+
<mesh filename="meshes/collision/shoulder_lift_link-col-3.obj" scale="0.006750247692460347 0.056602780832294725 0.09018758049475346" />
|
| 316 |
+
</geometry>
|
| 317 |
+
</collision>
|
| 318 |
+
<collision name="shoulder_lift_link-col-4">
|
| 319 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 320 |
+
<geometry>
|
| 321 |
+
<mesh filename="meshes/collision/shoulder_lift_link-col-4.obj" scale="0.025176277925583884 0.050828953060792284 0.09279584104050931" />
|
| 322 |
+
</geometry>
|
| 323 |
+
</collision>
|
| 324 |
+
<collision name="shoulder_lift_link-col-5">
|
| 325 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 326 |
+
<geometry>
|
| 327 |
+
<mesh filename="meshes/collision/shoulder_lift_link-col-5.obj" scale="0.004079859820786166 0.07518112986450999 0.08937131971120835" />
|
| 328 |
+
</geometry>
|
| 329 |
+
</collision>
|
| 330 |
+
<collision name="shoulder_lift_link-col-6">
|
| 331 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 332 |
+
<geometry>
|
| 333 |
+
<mesh filename="meshes/collision/shoulder_lift_link-col-6.obj" scale="0.008197737467600358 0.078513367467066 0.08960087777952352" />
|
| 334 |
+
</geometry>
|
| 335 |
+
</collision>
|
| 336 |
+
</link>
|
| 337 |
+
<joint name="shoulder_lift_joint" type="revolute">
|
| 338 |
+
<origin rpy="0 0 0" xyz="0.117 0 0.0599999999999999" />
|
| 339 |
+
<parent link="shoulder_pan_link" />
|
| 340 |
+
<child link="shoulder_lift_link" />
|
| 341 |
+
<axis xyz="0 1 0" />
|
| 342 |
+
<dynamics damping="1.0" />
|
| 343 |
+
<limit effort="131.76" lower="-1.221" upper="1.518" velocity="1.454" />
|
| 344 |
+
</joint>
|
| 345 |
+
<link name="upperarm_roll_link">
|
| 346 |
+
<inertial>
|
| 347 |
+
<origin rpy="0 0 0" xyz="0.1165 0.0014 0.0000" />
|
| 348 |
+
<mass value="2.3311" />
|
| 349 |
+
<inertia ixx="0.0019" ixy="-0.0001" ixz="0.0" iyy="0.0045" iyz="0.0" izz="0.0047" />
|
| 350 |
+
</inertial>
|
| 351 |
+
<visual>
|
| 352 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 353 |
+
<geometry>
|
| 354 |
+
<mesh filename="meshes/upperarm_roll_link.obj" />
|
| 355 |
+
</geometry>
|
| 356 |
+
</visual>
|
| 357 |
+
<collision name="upperarm_roll_link-col-0">
|
| 358 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 359 |
+
<geometry>
|
| 360 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-0.obj" scale="0.043233682860532696 0.05327495061767486 0.09080570760567572" />
|
| 361 |
+
</geometry>
|
| 362 |
+
</collision>
|
| 363 |
+
<collision name="upperarm_roll_link-col-1">
|
| 364 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 365 |
+
<geometry>
|
| 366 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-1.obj" scale="0.11281594018391577 0.07827567977478422 0.10889152953810272" />
|
| 367 |
+
</geometry>
|
| 368 |
+
</collision>
|
| 369 |
+
<collision name="upperarm_roll_link-col-2">
|
| 370 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 371 |
+
<geometry>
|
| 372 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-2.obj" scale="0.045484158573303124 0.055187385979988145 0.05396868134943281" />
|
| 373 |
+
</geometry>
|
| 374 |
+
</collision>
|
| 375 |
+
<collision name="upperarm_roll_link-col-3">
|
| 376 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 377 |
+
<geometry>
|
| 378 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-3.obj" scale="0.0546307987921341 0.055250778084403256 0.10847771278731014" />
|
| 379 |
+
</geometry>
|
| 380 |
+
</collision>
|
| 381 |
+
<collision name="upperarm_roll_link-col-4">
|
| 382 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 383 |
+
<geometry>
|
| 384 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-4.obj" scale="0.04548394254768131 0.05499992898928734 0.053989512272521675" />
|
| 385 |
+
</geometry>
|
| 386 |
+
</collision>
|
| 387 |
+
<collision name="upperarm_roll_link-col-5">
|
| 388 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 389 |
+
<geometry>
|
| 390 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-5.obj" scale="0.03982818626211557 0.052945424576149085 0.1126849831474127" />
|
| 391 |
+
</geometry>
|
| 392 |
+
</collision>
|
| 393 |
+
<collision name="upperarm_roll_link-col-6">
|
| 394 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 395 |
+
<geometry>
|
| 396 |
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<mesh filename="meshes/collision/upperarm_roll_link-col-6.obj" scale="0.04150117177125734 0.05307073349919302 0.053973939171759605" />
|
| 397 |
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</geometry>
|
| 398 |
+
</collision>
|
| 399 |
+
<collision name="upperarm_roll_link-col-7">
|
| 400 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 401 |
+
<geometry>
|
| 402 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-7.obj" scale="0.04159199592628728 0.052967941905779935 0.05401047840861174" />
|
| 403 |
+
</geometry>
|
| 404 |
+
</collision>
|
| 405 |
+
</link>
|
| 406 |
+
<joint name="upperarm_roll_joint" type="revolute">
|
| 407 |
+
<origin rpy="0 0 0" xyz="0.219 0 0" />
|
| 408 |
+
<parent link="shoulder_lift_link" />
|
| 409 |
+
<child link="upperarm_roll_link" />
|
| 410 |
+
<axis xyz="1 0 0" />
|
| 411 |
+
<dynamics damping="5.0" />
|
| 412 |
+
<limit effort="76.94" lower="-6.283185307179586" upper="6.283185307179586" velocity="1.571" />
|
| 413 |
+
</joint>
|
| 414 |
+
<link name="elbow_flex_link">
|
| 415 |
+
<inertial>
|
| 416 |
+
<origin rpy="0 0 0" xyz="0.1279 0.0073 0.0000" />
|
| 417 |
+
<mass value="2.1299" />
|
| 418 |
+
<inertia ixx="0.0024" ixy="-0.0016" ixz="0.0" iyy="0.0082" iyz="-0.0" izz="0.0084" />
|
| 419 |
+
</inertial>
|
| 420 |
+
<visual>
|
| 421 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 422 |
+
<geometry>
|
| 423 |
+
<mesh filename="meshes/elbow_flex_link.obj" />
|
| 424 |
+
</geometry>
|
| 425 |
+
</visual>
|
| 426 |
+
<collision name="elbow_flex_link-col-0">
|
| 427 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 428 |
+
<geometry>
|
| 429 |
+
<mesh filename="meshes/collision/elbow_flex_link-col-0.obj" scale="0.10742705962771996 0.05787673604047297 0.10775257645079876" />
|
| 430 |
+
</geometry>
|
| 431 |
+
</collision>
|
| 432 |
+
<collision name="elbow_flex_link-col-1">
|
| 433 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 434 |
+
<geometry>
|
| 435 |
+
<mesh filename="meshes/collision/elbow_flex_link-col-1.obj" scale="0.09249792813430206 0.07229576991964005 0.10806829635221318" />
|
| 436 |
+
</geometry>
|
| 437 |
+
</collision>
|
| 438 |
+
<collision name="elbow_flex_link-col-2">
|
| 439 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 440 |
+
<geometry>
|
| 441 |
+
<mesh filename="meshes/collision/elbow_flex_link-col-2.obj" scale="0.008165029075733743 0.07209655011773493 0.09045328953163051" />
|
| 442 |
+
</geometry>
|
| 443 |
+
</collision>
|
| 444 |
+
<collision name="elbow_flex_link-col-3">
|
| 445 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 446 |
+
<geometry>
|
| 447 |
+
<mesh filename="meshes/collision/elbow_flex_link-col-3.obj" scale="0.02340028989060528 0.05206995106403718 0.0899452079331326" />
|
| 448 |
+
</geometry>
|
| 449 |
+
</collision>
|
| 450 |
+
<collision name="elbow_flex_link-col-4">
|
| 451 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 452 |
+
<geometry>
|
| 453 |
+
<mesh filename="meshes/collision/elbow_flex_link-col-4.obj" scale="0.008394184758965861 0.07121724057644613 0.0897461102725998" />
|
| 454 |
+
</geometry>
|
| 455 |
+
</collision>
|
| 456 |
+
<collision name="elbow_flex_link-col-5">
|
| 457 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 458 |
+
<geometry>
|
| 459 |
+
<mesh filename="meshes/collision/elbow_flex_link-col-5.obj" scale="0.09106222097327452 0.05022600872647629 0.1076323948727465" />
|
| 460 |
+
</geometry>
|
| 461 |
+
</collision>
|
| 462 |
+
</link>
|
| 463 |
+
<joint name="elbow_flex_joint" type="revolute">
|
| 464 |
+
<origin rpy="0 0 0" xyz="0.133 0 0" />
|
| 465 |
+
<parent link="upperarm_roll_link" />
|
| 466 |
+
<child link="elbow_flex_link" />
|
| 467 |
+
<axis xyz="0 1 0" />
|
| 468 |
+
<dynamics damping="1.0" />
|
| 469 |
+
<limit effort="66.18" lower="-2.251" upper="2.251" velocity="1.521" />
|
| 470 |
+
</joint>
|
| 471 |
+
<link name="forearm_roll_link">
|
| 472 |
+
<inertial>
|
| 473 |
+
<origin rpy="0 0 0" xyz="0.1097 -0.0266 0.0000" />
|
| 474 |
+
<mass value="1.6563" />
|
| 475 |
+
<inertia ixx="0.0016" ixy="-0.0003" ixz="0.0" iyy="0.003" iyz="-0.0" izz="0.0035" />
|
| 476 |
+
</inertial>
|
| 477 |
+
<visual>
|
| 478 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 479 |
+
<geometry>
|
| 480 |
+
<mesh filename="meshes/forearm_roll_link.obj" />
|
| 481 |
+
</geometry>
|
| 482 |
+
</visual>
|
| 483 |
+
<collision name="forearm_roll_link-col-0">
|
| 484 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 485 |
+
<geometry>
|
| 486 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-0.obj" scale="0.10921817166108938 0.037120127869555986 0.1086142768585121" />
|
| 487 |
+
</geometry>
|
| 488 |
+
</collision>
|
| 489 |
+
<collision name="forearm_roll_link-col-1">
|
| 490 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 491 |
+
<geometry>
|
| 492 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-1.obj" scale="0.10410858460532649 0.03987168065867325 0.07544517540209343" />
|
| 493 |
+
</geometry>
|
| 494 |
+
</collision>
|
| 495 |
+
<collision name="forearm_roll_link-col-2">
|
| 496 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 497 |
+
<geometry>
|
| 498 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-2.obj" scale="0.02447981412983327 0.0679692432889695 0.026544595519252468" />
|
| 499 |
+
</geometry>
|
| 500 |
+
</collision>
|
| 501 |
+
<collision name="forearm_roll_link-col-3">
|
| 502 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 503 |
+
<geometry>
|
| 504 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-3.obj" scale="0.024217415418487126 0.024099781656170535 0.04493785760723842" />
|
| 505 |
+
</geometry>
|
| 506 |
+
</collision>
|
| 507 |
+
<collision name="forearm_roll_link-col-4">
|
| 508 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 509 |
+
<geometry>
|
| 510 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-4.obj" scale="0.04742100791090131 0.093479086936679 0.10769642442831169" />
|
| 511 |
+
</geometry>
|
| 512 |
+
</collision>
|
| 513 |
+
<collision name="forearm_roll_link-col-5">
|
| 514 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 515 |
+
<geometry>
|
| 516 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-5.obj" scale="0.02612705275487747 0.02443574669527479 0.045006078055148675" />
|
| 517 |
+
</geometry>
|
| 518 |
+
</collision>
|
| 519 |
+
<collision name="forearm_roll_link-col-6">
|
| 520 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 521 |
+
<geometry>
|
| 522 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-6.obj" scale="0.027757616772894785 0.03368523185380254 0.0323782971893902" />
|
| 523 |
+
</geometry>
|
| 524 |
+
</collision>
|
| 525 |
+
<collision name="forearm_roll_link-col-7">
|
| 526 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 527 |
+
<geometry>
|
| 528 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-7.obj" scale="0.024153395543369406 0.034027475543903875 0.016539005761492365" />
|
| 529 |
+
</geometry>
|
| 530 |
+
</collision>
|
| 531 |
+
</link>
|
| 532 |
+
<joint name="forearm_roll_joint" type="revolute">
|
| 533 |
+
<origin rpy="0 0 0" xyz="0.197 0 0" />
|
| 534 |
+
<parent link="elbow_flex_link" />
|
| 535 |
+
<child link="forearm_roll_link" />
|
| 536 |
+
<axis xyz="1 0 0" />
|
| 537 |
+
<dynamics damping="5.0" />
|
| 538 |
+
<limit effort="29.35" lower="-6.283185307179586" upper="6.283185307179586" velocity="1.571" />
|
| 539 |
+
</joint>
|
| 540 |
+
<link name="wrist_flex_link">
|
| 541 |
+
<inertial>
|
| 542 |
+
<origin rpy="0 0 0" xyz="0.0882 0.0009 -0.0001" />
|
| 543 |
+
<mass value="1.725" />
|
| 544 |
+
<inertia ixx="0.0018" ixy="-0.0001" ixz="-0.0" iyy="0.0042" iyz="0.0" izz="0.0042" />
|
| 545 |
+
</inertial>
|
| 546 |
+
<visual>
|
| 547 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 548 |
+
<geometry>
|
| 549 |
+
<mesh filename="meshes/wrist_flex_link.obj" />
|
| 550 |
+
</geometry>
|
| 551 |
+
</visual>
|
| 552 |
+
<collision name="wrist_flex_link-col-0">
|
| 553 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 554 |
+
<geometry>
|
| 555 |
+
<mesh filename="meshes/collision/wrist_flex_link-col-0.obj" scale="0.178137908988157 0.12147886098144775 0.10399886789257294" />
|
| 556 |
+
</geometry>
|
| 557 |
+
</collision>
|
| 558 |
+
</link>
|
| 559 |
+
<joint name="wrist_flex_joint" type="revolute">
|
| 560 |
+
<origin rpy="0 0 0" xyz="0.1245 0 0" />
|
| 561 |
+
<parent link="forearm_roll_link" />
|
| 562 |
+
<child link="wrist_flex_link" />
|
| 563 |
+
<axis xyz="0 1 0" />
|
| 564 |
+
<dynamics damping="1.0" />
|
| 565 |
+
<limit effort="25.7" lower="-2.16" upper="2.16" velocity="2.268" />
|
| 566 |
+
</joint>
|
| 567 |
+
<link name="wrist_roll_link">
|
| 568 |
+
<inertial>
|
| 569 |
+
<origin rpy="0 0 0" xyz="0.0095 0.0004 -0.0002" />
|
| 570 |
+
<mass value="0.1354" />
|
| 571 |
+
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
|
| 572 |
+
</inertial>
|
| 573 |
+
<visual>
|
| 574 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 575 |
+
<geometry>
|
| 576 |
+
<mesh filename="meshes/wrist_roll_link.obj" />
|
| 577 |
+
</geometry>
|
| 578 |
+
</visual>
|
| 579 |
+
<collision name="wrist_roll_link-col-0">
|
| 580 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 581 |
+
<geometry>
|
| 582 |
+
<mesh filename="meshes/collision/wrist_roll_link-col-0.obj" scale="0.04257338753943578 0.1050320878251495 0.1045717472246548" />
|
| 583 |
+
</geometry>
|
| 584 |
+
</collision>
|
| 585 |
+
</link>
|
| 586 |
+
<joint name="wrist_roll_joint" type="revolute">
|
| 587 |
+
<origin rpy="0 0 0" xyz="0.1385 0 0" />
|
| 588 |
+
<parent link="wrist_flex_link" />
|
| 589 |
+
<child link="wrist_roll_link" />
|
| 590 |
+
<axis xyz="1 0 0" />
|
| 591 |
+
<limit effort="7.36" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.268" />
|
| 592 |
+
<dynamics damping="5.0" />
|
| 593 |
+
</joint>
|
| 594 |
+
<link name="gripper_link">
|
| 595 |
+
<inertial>
|
| 596 |
+
<origin rpy="0 0 0" xyz="-0.0900 -0.0001 -0.0017" />
|
| 597 |
+
<mass value="1.5175" />
|
| 598 |
+
<inertia ixx="0.0013" ixy="-0.0" ixz="0.0" iyy="0.0019" iyz="-0.0" izz="0.0024" />
|
| 599 |
+
</inertial>
|
| 600 |
+
<visual>
|
| 601 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 602 |
+
<geometry>
|
| 603 |
+
<mesh filename="meshes/gripper_link.obj" />
|
| 604 |
+
</geometry>
|
| 605 |
+
</visual>
|
| 606 |
+
<collision name="gripper_link-col-0">
|
| 607 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 608 |
+
<geometry>
|
| 609 |
+
<mesh filename="meshes/collision/gripper_link-col-0.obj" scale="0.12201180234828604 0.13213609263469575 0.08787660210757336" />
|
| 610 |
+
</geometry>
|
| 611 |
+
</collision>
|
| 612 |
+
</link>
|
| 613 |
+
<joint name="gripper_axis" type="fixed">
|
| 614 |
+
<origin rpy="0 0 0" xyz="0.16645 0 0" />
|
| 615 |
+
<parent link="wrist_roll_link" />
|
| 616 |
+
<child link="gripper_link" />
|
| 617 |
+
<axis xyz="0 1 0" />
|
| 618 |
+
</joint>
|
| 619 |
+
<link name="r_gripper_finger_link">
|
| 620 |
+
<inertial>
|
| 621 |
+
<origin rpy="0 0 0" xyz="-0.01 0 0" />
|
| 622 |
+
<mass value="0.0798" />
|
| 623 |
+
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
|
| 624 |
+
</inertial>
|
| 625 |
+
<visual>
|
| 626 |
+
<origin rpy="0 0 0" xyz="0 -0.01 0" />
|
| 627 |
+
<geometry>
|
| 628 |
+
<box size="0.06 0.015 0.045" />
|
| 629 |
+
</geometry>
|
| 630 |
+
</visual>
|
| 631 |
+
<collision>
|
| 632 |
+
<origin rpy="0 0 0" xyz="0 -0.01 0" />
|
| 633 |
+
<geometry>
|
| 634 |
+
<box size="0.06 0.015 0.045" />
|
| 635 |
+
</geometry>
|
| 636 |
+
</collision>
|
| 637 |
+
</link>
|
| 638 |
+
<joint name="r_gripper_finger_joint" type="prismatic">
|
| 639 |
+
<origin rpy="0 0 0" xyz="0 0.015425 0" />
|
| 640 |
+
<parent link="gripper_link" />
|
| 641 |
+
<child link="r_gripper_finger_link" />
|
| 642 |
+
<axis xyz="0 1 0" />
|
| 643 |
+
<limit effort="60" lower="0.0" upper="0.05" velocity="0.25" />
|
| 644 |
+
<dynamics damping="0.0" friction="1.0" />
|
| 645 |
+
</joint>
|
| 646 |
+
<link name="l_gripper_finger_link">
|
| 647 |
+
<inertial>
|
| 648 |
+
<origin rpy="0 0 0" xyz="-0.01 0 0" />
|
| 649 |
+
<mass value="0.0798" />
|
| 650 |
+
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
|
| 651 |
+
</inertial>
|
| 652 |
+
<visual>
|
| 653 |
+
<origin rpy="0 0 0" xyz="0 0.01 0" />
|
| 654 |
+
<geometry>
|
| 655 |
+
<box size="0.06 0.015 0.045" />
|
| 656 |
+
</geometry>
|
| 657 |
+
</visual>
|
| 658 |
+
<collision>
|
| 659 |
+
<origin rpy="0 0 0" xyz="0 0.01 0" />
|
| 660 |
+
<geometry>
|
| 661 |
+
<box size="0.06 0.015 0.045" />
|
| 662 |
+
</geometry>
|
| 663 |
+
</collision>
|
| 664 |
+
</link>
|
| 665 |
+
<joint name="l_gripper_finger_joint" type="prismatic">
|
| 666 |
+
<origin rpy="0 0 0" xyz="0 -0.015425 0" />
|
| 667 |
+
<parent link="gripper_link" />
|
| 668 |
+
<child link="l_gripper_finger_link" />
|
| 669 |
+
<axis xyz="0 -1 0" />
|
| 670 |
+
<limit effort="60" lower="0.0" upper="0.05" velocity="0.25" />
|
| 671 |
+
<dynamics damping="0.0" friction="1.0" />
|
| 672 |
+
</joint>
|
| 673 |
+
<link name="estop_link">
|
| 674 |
+
<inertial>
|
| 675 |
+
<origin rpy="0 0 0" xyz="0.002434512737072 -0.00330608315239905 0.00665139196650039" />
|
| 676 |
+
<mass value="0.00196130439134723" />
|
| 677 |
+
<inertia ixx="3.02810026604417E-07" ixy="-1.5862023118056E-08" ixz="3.16561396557437E-08" iyy="2.93322917127605E-07" iyz="-4.28833522751273E-08" izz="2.28513272627183E-07" />
|
| 678 |
+
</inertial>
|
| 679 |
+
<visual>
|
| 680 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 681 |
+
<geometry>
|
| 682 |
+
<mesh filename="meshes/estop_link.obj" />
|
| 683 |
+
</geometry>
|
| 684 |
+
<material name="">
|
| 685 |
+
<color rgba="0.8 0 0 1" />
|
| 686 |
+
</material>
|
| 687 |
+
</visual>
|
| 688 |
+
</link>
|
| 689 |
+
<joint name="estop_joint" type="fixed">
|
| 690 |
+
<origin rpy="1.5708 0 0" xyz="-0.12465 0.23892 0.31127" />
|
| 691 |
+
<parent link="base_link" />
|
| 692 |
+
<child link="estop_link" />
|
| 693 |
+
<axis xyz="0 0 0" />
|
| 694 |
+
</joint>
|
| 695 |
+
<link name="laser_link">
|
| 696 |
+
<inertial>
|
| 697 |
+
<origin rpy="0 0 0" xyz="-0.0306228970175641 0.0007091682908278 0.0551974119471302" />
|
| 698 |
+
<mass value="0.00833634573995571" />
|
| 699 |
+
<inertia ixx="1.01866461240801E-06" ixy="-5.88447626567756E-08" ixz="7.83857244757914E-08" iyy="5.10039589974707E-07" iyz="-7.12664289617235E-09" izz="1.28270671527309E-06" />
|
| 700 |
+
</inertial>
|
| 701 |
+
<visual>
|
| 702 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 703 |
+
<geometry>
|
| 704 |
+
<mesh filename="meshes/laser_link.obj" />
|
| 705 |
+
</geometry>
|
| 706 |
+
</visual>
|
| 707 |
+
</link>
|
| 708 |
+
<joint name="laser_joint" type="fixed">
|
| 709 |
+
<origin rpy="3.14159265359 0 0" xyz="0.235 0 0.2878" />
|
| 710 |
+
<parent link="base_link" />
|
| 711 |
+
<child link="laser_link" />
|
| 712 |
+
<axis xyz="0 0 0" />
|
| 713 |
+
</joint>
|
| 714 |
+
<link name="torso_fixed_link">
|
| 715 |
+
<inertial>
|
| 716 |
+
<origin rpy="0 0 0" xyz="-0.0722 0.0057 0.2656" />
|
| 717 |
+
<mass value="13.2775" />
|
| 718 |
+
<inertia ixx="0.3861" ixy="0.0015" ixz="-0.0102" iyy="0.3388" iyz="0.0117" izz="0.1018" />
|
| 719 |
+
</inertial>
|
| 720 |
+
<visual>
|
| 721 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 722 |
+
<geometry>
|
| 723 |
+
<mesh filename="meshes/torso_fixed_link.obj" />
|
| 724 |
+
</geometry>
|
| 725 |
+
</visual>
|
| 726 |
+
<collision name="torso_fixed_link-col-0">
|
| 727 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 728 |
+
<geometry>
|
| 729 |
+
<mesh filename="meshes/collision/torso_fixed_link-col-0.obj" scale="0.13622299999999998 0.3107 0.461875" />
|
| 730 |
+
</geometry>
|
| 731 |
+
</collision>
|
| 732 |
+
</link>
|
| 733 |
+
<joint name="torso_fixed_joint" type="fixed">
|
| 734 |
+
<origin rpy="-6.12303176911189E-17 0 0" xyz="-0.086875 0 0.377425" />
|
| 735 |
+
<parent link="base_link" />
|
| 736 |
+
<child link="torso_fixed_link" />
|
| 737 |
+
<axis xyz="0 1 0" />
|
| 738 |
+
</joint>
|
| 739 |
+
<link name="head_camera_link">
|
| 740 |
+
<inertial>
|
| 741 |
+
<mass value="0.0001" />
|
| 742 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 743 |
+
<inertia ixx="0.0000001" ixy="0.0" ixz="0.0" iyy="0.0000001" iyz="0.0" izz="0.0000001" />
|
| 744 |
+
</inertial>
|
| 745 |
+
</link>
|
| 746 |
+
<joint name="head_camera_joint" type="fixed">
|
| 747 |
+
<origin rpy="0 0 0" xyz="0.055 0 0.0225" />
|
| 748 |
+
<parent link="head_tilt_link" />
|
| 749 |
+
<child link="head_camera_link" />
|
| 750 |
+
</joint>
|
| 751 |
+
<link name="head_camera_rgb_frame">
|
| 752 |
+
<inertial>
|
| 753 |
+
<mass value="0.0001" />
|
| 754 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 755 |
+
<inertia ixx="0.0000001" ixy="0.0" ixz="0.0" iyy="0.0000001" iyz="0.0" izz="0.0000001" />
|
| 756 |
+
</inertial>
|
| 757 |
+
</link>
|
| 758 |
+
<joint name="head_camera_rgb_joint" type="fixed">
|
| 759 |
+
<origin rpy="0 0 0" xyz="0 0.02 0" />
|
| 760 |
+
<parent link="head_camera_link" />
|
| 761 |
+
<child link="head_camera_rgb_frame" />
|
| 762 |
+
</joint>
|
| 763 |
+
<link name="head_camera_rgb_optical_frame">
|
| 764 |
+
<inertial>
|
| 765 |
+
<mass value="0.0001" />
|
| 766 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 767 |
+
<inertia ixx="0.0000001" ixy="0.0" ixz="0.0" iyy="0.0000001" iyz="0.0" izz="0.0000001" />
|
| 768 |
+
</inertial>
|
| 769 |
+
</link>
|
| 770 |
+
<joint name="head_camera_rgb_optical_joint" type="fixed">
|
| 771 |
+
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0" />
|
| 772 |
+
<parent link="head_camera_rgb_frame" />
|
| 773 |
+
<child link="head_camera_rgb_optical_frame" />
|
| 774 |
+
</joint>
|
| 775 |
+
<link name="head_camera_depth_frame">
|
| 776 |
+
<inertial>
|
| 777 |
+
<mass value="0.0001" />
|
| 778 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 779 |
+
<inertia ixx="0.0000001" ixy="0.0" ixz="0.0" iyy="0.0000001" iyz="0.0" izz="0.0000001" />
|
| 780 |
+
</inertial>
|
| 781 |
+
</link>
|
| 782 |
+
<joint name="head_camera_depth_joint" type="fixed">
|
| 783 |
+
<origin rpy="0 0 0" xyz="0 0.045 0" />
|
| 784 |
+
<parent link="head_camera_link" />
|
| 785 |
+
<child link="head_camera_depth_frame" />
|
| 786 |
+
</joint>
|
| 787 |
+
<link name="head_camera_depth_optical_frame">
|
| 788 |
+
<inertial>
|
| 789 |
+
<mass value="0.0001" />
|
| 790 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 791 |
+
<inertia ixx="0.0000001" ixy="0.0" ixz="0.0" iyy="0.0000001" iyz="0.0" izz="0.0000001" />
|
| 792 |
+
</inertial>
|
| 793 |
+
</link>
|
| 794 |
+
<joint name="head_camera_depth_optical_joint" type="fixed">
|
| 795 |
+
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0" />
|
| 796 |
+
<parent link="head_camera_depth_frame" />
|
| 797 |
+
<child link="head_camera_depth_optical_frame" />
|
| 798 |
+
</joint>
|
| 799 |
+
<link name="eyes">
|
| 800 |
+
<inertial>
|
| 801 |
+
<mass value="0.001" />
|
| 802 |
+
<origin xyz="0 0 0" />
|
| 803 |
+
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
|
| 804 |
+
</inertial>
|
| 805 |
+
</link>
|
| 806 |
+
<joint name="eye_joint" type="fixed">
|
| 807 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 808 |
+
<parent link="head_camera_link" />
|
| 809 |
+
<child link="eyes" />
|
| 810 |
+
</joint>
|
| 811 |
+
</robot>
|
omnigibson-robot-assets/models/fetch/urdf/fetch_with_meta_links.urdf
ADDED
|
@@ -0,0 +1,811 @@
|
|
|
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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 |
+
<robot name="fetch">
|
| 3 |
+
<link name="base_link">
|
| 4 |
+
<inertial>
|
| 5 |
+
<origin rpy="0 0 0" xyz="-0.0036 0.0 0.0014" />
|
| 6 |
+
<mass value="70.1294" />
|
| 7 |
+
<inertia ixx="1.225" ixy="0.0099" ixz="0.0062" iyy="1.2853" iyz="-0.0034" izz="0.987" />
|
| 8 |
+
</inertial>
|
| 9 |
+
<visual>
|
| 10 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 11 |
+
<geometry>
|
| 12 |
+
<mesh filename="meshes/base_link.obj" />
|
| 13 |
+
</geometry>
|
| 14 |
+
</visual>
|
| 15 |
+
<contact>
|
| 16 |
+
<lateral_friction value="0.0" />
|
| 17 |
+
<rolling_friction value="0.0" />
|
| 18 |
+
<stiffness value="300000" />
|
| 19 |
+
<damping value="30000" />
|
| 20 |
+
</contact>
|
| 21 |
+
<collision name="base_link-col-0">
|
| 22 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 23 |
+
<geometry>
|
| 24 |
+
<mesh filename="meshes/collision/base_link-col-0.obj" scale="0.578763986081307 0.5310810167969149 0.35891242319259714" />
|
| 25 |
+
</geometry>
|
| 26 |
+
</collision>
|
| 27 |
+
</link>
|
| 28 |
+
<link name="r_wheel_link">
|
| 29 |
+
<inertial>
|
| 30 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 31 |
+
<mass value="4.3542" />
|
| 32 |
+
<inertia ixx="0.0045" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.0045" />
|
| 33 |
+
</inertial>
|
| 34 |
+
<visual>
|
| 35 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 36 |
+
<geometry>
|
| 37 |
+
<mesh filename="meshes/r_wheel_link.obj" />
|
| 38 |
+
</geometry>
|
| 39 |
+
</visual>
|
| 40 |
+
<collision>
|
| 41 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 42 |
+
<geometry>
|
| 43 |
+
<sphere radius="0.0613" />
|
| 44 |
+
</geometry>
|
| 45 |
+
</collision>
|
| 46 |
+
<contact>
|
| 47 |
+
<lateral_friction value="1.0" />
|
| 48 |
+
<rolling_friction value="0.0" />
|
| 49 |
+
<stiffness value="300000" />
|
| 50 |
+
<damping value="30000" />
|
| 51 |
+
</contact>
|
| 52 |
+
</link>
|
| 53 |
+
<joint name="r_wheel_joint" type="continuous">
|
| 54 |
+
<origin rpy="-6.123E-17 0 0" xyz="0.0012914 -0.18738 0.06" />
|
| 55 |
+
<parent link="base_link" />
|
| 56 |
+
<child link="r_wheel_link" />
|
| 57 |
+
<axis xyz="0 1 0" />
|
| 58 |
+
<limit effort="8.85" velocity="17.4" />
|
| 59 |
+
</joint>
|
| 60 |
+
<link name="l_wheel_link">
|
| 61 |
+
<inertial>
|
| 62 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 63 |
+
<mass value="4.3542" />
|
| 64 |
+
<inertia ixx="0.0045" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.0045" />
|
| 65 |
+
</inertial>
|
| 66 |
+
<visual>
|
| 67 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 68 |
+
<geometry>
|
| 69 |
+
<mesh filename="meshes/l_wheel_link.obj" />
|
| 70 |
+
</geometry>
|
| 71 |
+
</visual>
|
| 72 |
+
<collision>
|
| 73 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 74 |
+
<geometry>
|
| 75 |
+
<sphere radius="0.0613" />
|
| 76 |
+
</geometry>
|
| 77 |
+
</collision>
|
| 78 |
+
<contact>
|
| 79 |
+
<lateral_friction value="1.0" />
|
| 80 |
+
<rolling_friction value="0.0" />
|
| 81 |
+
<stiffness value="300000" />
|
| 82 |
+
<damping value="30000" />
|
| 83 |
+
</contact>
|
| 84 |
+
</link>
|
| 85 |
+
<joint name="l_wheel_joint" type="continuous">
|
| 86 |
+
<origin rpy="-6.123E-17 0 0" xyz="0.0012914 0.18738 0.06" />
|
| 87 |
+
<parent link="base_link" />
|
| 88 |
+
<child link="l_wheel_link" />
|
| 89 |
+
<axis xyz="0 1 0" />
|
| 90 |
+
<limit effort="8.85" velocity="17.4" />
|
| 91 |
+
</joint>
|
| 92 |
+
<link name="torso_lift_link">
|
| 93 |
+
<inertial>
|
| 94 |
+
<origin rpy="0 0 0" xyz="-0.0013 -0.0009 0.2935" />
|
| 95 |
+
<mass value="10.7796" />
|
| 96 |
+
<inertia ixx="0.3354" ixy="0.0" ixz="-0.0162" iyy="0.3354" iyz="-0.0006" izz="0.0954" />
|
| 97 |
+
</inertial>
|
| 98 |
+
<visual>
|
| 99 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 100 |
+
<geometry>
|
| 101 |
+
<mesh filename="meshes/torso_lift_link.obj" />
|
| 102 |
+
</geometry>
|
| 103 |
+
</visual>
|
| 104 |
+
<collision name="torso_lift_link-col-0">
|
| 105 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 106 |
+
<geometry>
|
| 107 |
+
<mesh filename="meshes/collision/torso_lift_link-col-0.obj" scale="0.12525209179928845 0.11468056843414176 0.13191813722037377" />
|
| 108 |
+
</geometry>
|
| 109 |
+
</collision>
|
| 110 |
+
<collision name="torso_lift_link-col-1">
|
| 111 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 112 |
+
<geometry>
|
| 113 |
+
<mesh filename="meshes/collision/torso_lift_link-col-1.obj" scale="0.24096705641297086 0.3527166346431949 0.11189929446912489" />
|
| 114 |
+
</geometry>
|
| 115 |
+
</collision>
|
| 116 |
+
<collision name="torso_lift_link-col-2">
|
| 117 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 118 |
+
<geometry>
|
| 119 |
+
<mesh filename="meshes/collision/torso_lift_link-col-2.obj" scale="0.03296376845994864 0.16283957328927515 0.08082289749684857" />
|
| 120 |
+
</geometry>
|
| 121 |
+
</collision>
|
| 122 |
+
<collision name="torso_lift_link-col-3">
|
| 123 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 124 |
+
<geometry>
|
| 125 |
+
<mesh filename="meshes/collision/torso_lift_link-col-3.obj" scale="0.0869032523834895 0.16886232533953707 0.05984454527672111" />
|
| 126 |
+
</geometry>
|
| 127 |
+
</collision>
|
| 128 |
+
<collision name="torso_lift_link-col-4">
|
| 129 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 130 |
+
<geometry>
|
| 131 |
+
<mesh filename="meshes/collision/torso_lift_link-col-4.obj" scale="0.24204504706078014 0.35493658162117336 0.3114894822566776" />
|
| 132 |
+
</geometry>
|
| 133 |
+
</collision>
|
| 134 |
+
<collision name="torso_lift_link-col-5">
|
| 135 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 136 |
+
<geometry>
|
| 137 |
+
<mesh filename="meshes/collision/torso_lift_link-col-5.obj" scale="0.011709697333178337 0.18473310881121432 0.16212756992602606" />
|
| 138 |
+
</geometry>
|
| 139 |
+
</collision>
|
| 140 |
+
<collision name="torso_lift_link-col-6">
|
| 141 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 142 |
+
<geometry>
|
| 143 |
+
<mesh filename="meshes/collision/torso_lift_link-col-6.obj" scale="0.02205084648886141 0.2891549849267875 0.16211681636811792" />
|
| 144 |
+
</geometry>
|
| 145 |
+
</collision>
|
| 146 |
+
<collision name="torso_lift_link-col-7">
|
| 147 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 148 |
+
<geometry>
|
| 149 |
+
<mesh filename="meshes/collision/torso_lift_link-col-7.obj" scale="0.2070979967919511 0.3529862873889307 0.1621993831698174" />
|
| 150 |
+
</geometry>
|
| 151 |
+
</collision>
|
| 152 |
+
</link>
|
| 153 |
+
<joint name="torso_lift_joint" type="prismatic">
|
| 154 |
+
<origin rpy="-6.123E-17 0 0" xyz="-0.086875 0 0.37743" />
|
| 155 |
+
<parent link="base_link" />
|
| 156 |
+
<child link="torso_lift_link" />
|
| 157 |
+
<axis xyz="0 0 1" />
|
| 158 |
+
<limit effort="450.0" lower="0" upper="0.38615" velocity="0.1" />
|
| 159 |
+
<dynamics damping="100.0" />
|
| 160 |
+
</joint>
|
| 161 |
+
<link name="head_pan_link">
|
| 162 |
+
<inertial>
|
| 163 |
+
<origin rpy="0 0 0" xyz="0.0321 0.0161 0.0390" />
|
| 164 |
+
<mass value="2.2556" />
|
| 165 |
+
<inertia ixx="0.0129" ixy="0.0002" ixz="0.0007" iyy="0.0095" iyz="-0.0" izz="0.0184" />
|
| 166 |
+
</inertial>
|
| 167 |
+
<visual>
|
| 168 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 169 |
+
<geometry>
|
| 170 |
+
<mesh filename="meshes/head_pan_link.obj" />
|
| 171 |
+
</geometry>
|
| 172 |
+
</visual>
|
| 173 |
+
<collision name="head_pan_link-col-0">
|
| 174 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 175 |
+
<geometry>
|
| 176 |
+
<mesh filename="meshes/collision/head_pan_link-col-0.obj" scale="0.3262003677591886 0.28610970271791636 0.11650549184488548" />
|
| 177 |
+
</geometry>
|
| 178 |
+
</collision>
|
| 179 |
+
</link>
|
| 180 |
+
<joint name="head_pan_joint" type="revolute">
|
| 181 |
+
<origin rpy="0 0 0" xyz="0.053125 0 0.603001417713939" />
|
| 182 |
+
<parent link="torso_lift_link" />
|
| 183 |
+
<child link="head_pan_link" />
|
| 184 |
+
<axis xyz="0 0 1" />
|
| 185 |
+
<limit effort="0.32" lower="-1.57" upper="1.57" velocity="1.57" />
|
| 186 |
+
</joint>
|
| 187 |
+
<link name="head_tilt_link">
|
| 188 |
+
<inertial>
|
| 189 |
+
<origin rpy="0 0 0" xyz="0.0081 0.0025 0.0113" />
|
| 190 |
+
<mass value="0.9087" />
|
| 191 |
+
<inertia ixx="0.0061" ixy="-0.0" ixz="0.0002" iyy="0.0014" iyz="-0.0001" izz="0.0061" />
|
| 192 |
+
</inertial>
|
| 193 |
+
<visual>
|
| 194 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 195 |
+
<geometry>
|
| 196 |
+
<mesh filename="meshes/head_tilt_link.obj" />
|
| 197 |
+
</geometry>
|
| 198 |
+
</visual>
|
| 199 |
+
<collision name="head_tilt_link-col-0">
|
| 200 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 201 |
+
<geometry>
|
| 202 |
+
<mesh filename="meshes/collision/head_tilt_link-col-0.obj" scale="0.11032625728216233 0.2110277534738148 0.11019709682745452" />
|
| 203 |
+
</geometry>
|
| 204 |
+
</collision>
|
| 205 |
+
</link>
|
| 206 |
+
<joint name="head_tilt_joint" type="revolute">
|
| 207 |
+
<origin rpy="0 0.2617993877991494 0" xyz="0.14253 0 0.057999" />
|
| 208 |
+
<parent link="head_pan_link" />
|
| 209 |
+
<child link="head_tilt_link" />
|
| 210 |
+
<axis xyz="0 1 0" />
|
| 211 |
+
<limit effort="0.68" lower="-0.76" upper="1.45" velocity="1.57" />
|
| 212 |
+
</joint>
|
| 213 |
+
<link name="shoulder_pan_link">
|
| 214 |
+
<inertial>
|
| 215 |
+
<origin rpy="0 0 0" xyz="0.0927 -0.0056 0.0564" />
|
| 216 |
+
<mass value="2.5587" />
|
| 217 |
+
<inertia ixx="0.0043" ixy="-0.0001" ixz="0.001" iyy="0.0087" iyz="-0.0001" izz="0.0087" />
|
| 218 |
+
</inertial>
|
| 219 |
+
<visual>
|
| 220 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 221 |
+
<geometry>
|
| 222 |
+
<mesh filename="meshes/shoulder_pan_link.obj" />
|
| 223 |
+
</geometry>
|
| 224 |
+
</visual>
|
| 225 |
+
<collision name="shoulder_pan_link-col-0">
|
| 226 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 227 |
+
<geometry>
|
| 228 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-0.obj" scale="0.23674814934064015 0.07892709002463907 0.1292538061159441" />
|
| 229 |
+
</geometry>
|
| 230 |
+
</collision>
|
| 231 |
+
<collision name="shoulder_pan_link-col-1">
|
| 232 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 233 |
+
<geometry>
|
| 234 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-1.obj" scale="0.0228734698922182 0.04777309085181893 0.04127026897311387" />
|
| 235 |
+
</geometry>
|
| 236 |
+
</collision>
|
| 237 |
+
<collision name="shoulder_pan_link-col-2">
|
| 238 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 239 |
+
<geometry>
|
| 240 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-2.obj" scale="0.10875195860116682 0.05767960685526352 0.09305498023388242" />
|
| 241 |
+
</geometry>
|
| 242 |
+
</collision>
|
| 243 |
+
<collision name="shoulder_pan_link-col-3">
|
| 244 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 245 |
+
<geometry>
|
| 246 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-3.obj" scale="0.00019939911502227237 0.0002680842906162134 0.007066041833549739" />
|
| 247 |
+
</geometry>
|
| 248 |
+
</collision>
|
| 249 |
+
<collision name="shoulder_pan_link-col-4">
|
| 250 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 251 |
+
<geometry>
|
| 252 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-4.obj" scale="0.053895035136557884 0.050360064532079 0.04275797537631672" />
|
| 253 |
+
</geometry>
|
| 254 |
+
</collision>
|
| 255 |
+
<collision name="shoulder_pan_link-col-5">
|
| 256 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 257 |
+
<geometry>
|
| 258 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-5.obj" scale="0.07538139619223647 0.023222826305947367 0.04070852929659032" />
|
| 259 |
+
</geometry>
|
| 260 |
+
</collision>
|
| 261 |
+
<collision name="shoulder_pan_link-col-6">
|
| 262 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 263 |
+
<geometry>
|
| 264 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-6.obj" scale="0.043102808177721295 0.021527654846864364 0.04260887571573117" />
|
| 265 |
+
</geometry>
|
| 266 |
+
</collision>
|
| 267 |
+
<collision name="shoulder_pan_link-col-7">
|
| 268 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 269 |
+
<geometry>
|
| 270 |
+
<mesh filename="meshes/collision/shoulder_pan_link-col-7.obj" scale="0.024980598975553322 0.06903018019327653 0.05393032995970591" />
|
| 271 |
+
</geometry>
|
| 272 |
+
</collision>
|
| 273 |
+
</link>
|
| 274 |
+
<joint name="shoulder_pan_joint" type="revolute">
|
| 275 |
+
<origin rpy="0 0 0" xyz="0.119525 0 0.34858" />
|
| 276 |
+
<parent link="torso_lift_link" />
|
| 277 |
+
<child link="shoulder_pan_link" />
|
| 278 |
+
<axis xyz="0 0 1" />
|
| 279 |
+
<dynamics damping="1.0" />
|
| 280 |
+
<limit effort="33.82" lower="-1.6056" upper="1.6056" velocity="1.256" />
|
| 281 |
+
</joint>
|
| 282 |
+
<link name="shoulder_lift_link">
|
| 283 |
+
<inertial>
|
| 284 |
+
<origin rpy="0 0 0" xyz="0.1432 0.0072 -0.0001" />
|
| 285 |
+
<mass value="2.6615" />
|
| 286 |
+
<inertia ixx="0.0028" ixy="-0.0021" ixz="-0.0" iyy="0.0111" iyz="-0.0" izz="0.0112" />
|
| 287 |
+
</inertial>
|
| 288 |
+
<visual>
|
| 289 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 290 |
+
<geometry>
|
| 291 |
+
<mesh filename="meshes/shoulder_lift_link.obj" />
|
| 292 |
+
</geometry>
|
| 293 |
+
</visual>
|
| 294 |
+
<collision name="shoulder_lift_link-col-0">
|
| 295 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 296 |
+
<geometry>
|
| 297 |
+
<mesh filename="meshes/collision/shoulder_lift_link-col-0.obj" scale="0.08023574358346658 0.10775589700289608 0.10736763858923673" />
|
| 298 |
+
</geometry>
|
| 299 |
+
</collision>
|
| 300 |
+
<collision name="shoulder_lift_link-col-1">
|
| 301 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 302 |
+
<geometry>
|
| 303 |
+
<mesh filename="meshes/collision/shoulder_lift_link-col-1.obj" scale="0.11211573759838873 0.07536489940288406 0.12428199468403077" />
|
| 304 |
+
</geometry>
|
| 305 |
+
</collision>
|
| 306 |
+
<collision name="shoulder_lift_link-col-2">
|
| 307 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 308 |
+
<geometry>
|
| 309 |
+
<mesh filename="meshes/collision/shoulder_lift_link-col-2.obj" scale="0.024330112602362702 0.040317073080785026 0.07447553721963279" />
|
| 310 |
+
</geometry>
|
| 311 |
+
</collision>
|
| 312 |
+
<collision name="shoulder_lift_link-col-3">
|
| 313 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 314 |
+
<geometry>
|
| 315 |
+
<mesh filename="meshes/collision/shoulder_lift_link-col-3.obj" scale="0.006750247692460347 0.056602780832294725 0.09018758049475346" />
|
| 316 |
+
</geometry>
|
| 317 |
+
</collision>
|
| 318 |
+
<collision name="shoulder_lift_link-col-4">
|
| 319 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 320 |
+
<geometry>
|
| 321 |
+
<mesh filename="meshes/collision/shoulder_lift_link-col-4.obj" scale="0.025176277925583884 0.050828953060792284 0.09279584104050931" />
|
| 322 |
+
</geometry>
|
| 323 |
+
</collision>
|
| 324 |
+
<collision name="shoulder_lift_link-col-5">
|
| 325 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 326 |
+
<geometry>
|
| 327 |
+
<mesh filename="meshes/collision/shoulder_lift_link-col-5.obj" scale="0.004079859820786166 0.07518112986450999 0.08937131971120835" />
|
| 328 |
+
</geometry>
|
| 329 |
+
</collision>
|
| 330 |
+
<collision name="shoulder_lift_link-col-6">
|
| 331 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 332 |
+
<geometry>
|
| 333 |
+
<mesh filename="meshes/collision/shoulder_lift_link-col-6.obj" scale="0.008197737467600358 0.078513367467066 0.08960087777952352" />
|
| 334 |
+
</geometry>
|
| 335 |
+
</collision>
|
| 336 |
+
</link>
|
| 337 |
+
<joint name="shoulder_lift_joint" type="revolute">
|
| 338 |
+
<origin rpy="0 0 0" xyz="0.117 0 0.0599999999999999" />
|
| 339 |
+
<parent link="shoulder_pan_link" />
|
| 340 |
+
<child link="shoulder_lift_link" />
|
| 341 |
+
<axis xyz="0 1 0" />
|
| 342 |
+
<dynamics damping="1.0" />
|
| 343 |
+
<limit effort="131.76" lower="-1.221" upper="1.518" velocity="1.454" />
|
| 344 |
+
</joint>
|
| 345 |
+
<link name="upperarm_roll_link">
|
| 346 |
+
<inertial>
|
| 347 |
+
<origin rpy="0 0 0" xyz="0.1165 0.0014 0.0000" />
|
| 348 |
+
<mass value="2.3311" />
|
| 349 |
+
<inertia ixx="0.0019" ixy="-0.0001" ixz="0.0" iyy="0.0045" iyz="0.0" izz="0.0047" />
|
| 350 |
+
</inertial>
|
| 351 |
+
<visual>
|
| 352 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 353 |
+
<geometry>
|
| 354 |
+
<mesh filename="meshes/upperarm_roll_link.obj" />
|
| 355 |
+
</geometry>
|
| 356 |
+
</visual>
|
| 357 |
+
<collision name="upperarm_roll_link-col-0">
|
| 358 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 359 |
+
<geometry>
|
| 360 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-0.obj" scale="0.043233682860532696 0.05327495061767486 0.09080570760567572" />
|
| 361 |
+
</geometry>
|
| 362 |
+
</collision>
|
| 363 |
+
<collision name="upperarm_roll_link-col-1">
|
| 364 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 365 |
+
<geometry>
|
| 366 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-1.obj" scale="0.11281594018391577 0.07827567977478422 0.10889152953810272" />
|
| 367 |
+
</geometry>
|
| 368 |
+
</collision>
|
| 369 |
+
<collision name="upperarm_roll_link-col-2">
|
| 370 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 371 |
+
<geometry>
|
| 372 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-2.obj" scale="0.045484158573303124 0.055187385979988145 0.05396868134943281" />
|
| 373 |
+
</geometry>
|
| 374 |
+
</collision>
|
| 375 |
+
<collision name="upperarm_roll_link-col-3">
|
| 376 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 377 |
+
<geometry>
|
| 378 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-3.obj" scale="0.0546307987921341 0.055250778084403256 0.10847771278731014" />
|
| 379 |
+
</geometry>
|
| 380 |
+
</collision>
|
| 381 |
+
<collision name="upperarm_roll_link-col-4">
|
| 382 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 383 |
+
<geometry>
|
| 384 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-4.obj" scale="0.04548394254768131 0.05499992898928734 0.053989512272521675" />
|
| 385 |
+
</geometry>
|
| 386 |
+
</collision>
|
| 387 |
+
<collision name="upperarm_roll_link-col-5">
|
| 388 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 389 |
+
<geometry>
|
| 390 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-5.obj" scale="0.03982818626211557 0.052945424576149085 0.1126849831474127" />
|
| 391 |
+
</geometry>
|
| 392 |
+
</collision>
|
| 393 |
+
<collision name="upperarm_roll_link-col-6">
|
| 394 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 395 |
+
<geometry>
|
| 396 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-6.obj" scale="0.04150117177125734 0.05307073349919302 0.053973939171759605" />
|
| 397 |
+
</geometry>
|
| 398 |
+
</collision>
|
| 399 |
+
<collision name="upperarm_roll_link-col-7">
|
| 400 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 401 |
+
<geometry>
|
| 402 |
+
<mesh filename="meshes/collision/upperarm_roll_link-col-7.obj" scale="0.04159199592628728 0.052967941905779935 0.05401047840861174" />
|
| 403 |
+
</geometry>
|
| 404 |
+
</collision>
|
| 405 |
+
</link>
|
| 406 |
+
<joint name="upperarm_roll_joint" type="revolute">
|
| 407 |
+
<origin rpy="0 0 0" xyz="0.219 0 0" />
|
| 408 |
+
<parent link="shoulder_lift_link" />
|
| 409 |
+
<child link="upperarm_roll_link" />
|
| 410 |
+
<axis xyz="1 0 0" />
|
| 411 |
+
<dynamics damping="5.0" />
|
| 412 |
+
<limit effort="76.94" lower="-6.283185307179586" upper="6.283185307179586" velocity="1.571" />
|
| 413 |
+
</joint>
|
| 414 |
+
<link name="elbow_flex_link">
|
| 415 |
+
<inertial>
|
| 416 |
+
<origin rpy="0 0 0" xyz="0.1279 0.0073 0.0000" />
|
| 417 |
+
<mass value="2.1299" />
|
| 418 |
+
<inertia ixx="0.0024" ixy="-0.0016" ixz="0.0" iyy="0.0082" iyz="-0.0" izz="0.0084" />
|
| 419 |
+
</inertial>
|
| 420 |
+
<visual>
|
| 421 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 422 |
+
<geometry>
|
| 423 |
+
<mesh filename="meshes/elbow_flex_link.obj" />
|
| 424 |
+
</geometry>
|
| 425 |
+
</visual>
|
| 426 |
+
<collision name="elbow_flex_link-col-0">
|
| 427 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 428 |
+
<geometry>
|
| 429 |
+
<mesh filename="meshes/collision/elbow_flex_link-col-0.obj" scale="0.10742705962771996 0.05787673604047297 0.10775257645079876" />
|
| 430 |
+
</geometry>
|
| 431 |
+
</collision>
|
| 432 |
+
<collision name="elbow_flex_link-col-1">
|
| 433 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 434 |
+
<geometry>
|
| 435 |
+
<mesh filename="meshes/collision/elbow_flex_link-col-1.obj" scale="0.09249792813430206 0.07229576991964005 0.10806829635221318" />
|
| 436 |
+
</geometry>
|
| 437 |
+
</collision>
|
| 438 |
+
<collision name="elbow_flex_link-col-2">
|
| 439 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 440 |
+
<geometry>
|
| 441 |
+
<mesh filename="meshes/collision/elbow_flex_link-col-2.obj" scale="0.008165029075733743 0.07209655011773493 0.09045328953163051" />
|
| 442 |
+
</geometry>
|
| 443 |
+
</collision>
|
| 444 |
+
<collision name="elbow_flex_link-col-3">
|
| 445 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 446 |
+
<geometry>
|
| 447 |
+
<mesh filename="meshes/collision/elbow_flex_link-col-3.obj" scale="0.02340028989060528 0.05206995106403718 0.0899452079331326" />
|
| 448 |
+
</geometry>
|
| 449 |
+
</collision>
|
| 450 |
+
<collision name="elbow_flex_link-col-4">
|
| 451 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 452 |
+
<geometry>
|
| 453 |
+
<mesh filename="meshes/collision/elbow_flex_link-col-4.obj" scale="0.008394184758965861 0.07121724057644613 0.0897461102725998" />
|
| 454 |
+
</geometry>
|
| 455 |
+
</collision>
|
| 456 |
+
<collision name="elbow_flex_link-col-5">
|
| 457 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 458 |
+
<geometry>
|
| 459 |
+
<mesh filename="meshes/collision/elbow_flex_link-col-5.obj" scale="0.09106222097327452 0.05022600872647629 0.1076323948727465" />
|
| 460 |
+
</geometry>
|
| 461 |
+
</collision>
|
| 462 |
+
</link>
|
| 463 |
+
<joint name="elbow_flex_joint" type="revolute">
|
| 464 |
+
<origin rpy="0 0 0" xyz="0.133 0 0" />
|
| 465 |
+
<parent link="upperarm_roll_link" />
|
| 466 |
+
<child link="elbow_flex_link" />
|
| 467 |
+
<axis xyz="0 1 0" />
|
| 468 |
+
<dynamics damping="1.0" />
|
| 469 |
+
<limit effort="66.18" lower="-2.251" upper="2.251" velocity="1.521" />
|
| 470 |
+
</joint>
|
| 471 |
+
<link name="forearm_roll_link">
|
| 472 |
+
<inertial>
|
| 473 |
+
<origin rpy="0 0 0" xyz="0.1097 -0.0266 0.0000" />
|
| 474 |
+
<mass value="1.6563" />
|
| 475 |
+
<inertia ixx="0.0016" ixy="-0.0003" ixz="0.0" iyy="0.003" iyz="-0.0" izz="0.0035" />
|
| 476 |
+
</inertial>
|
| 477 |
+
<visual>
|
| 478 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 479 |
+
<geometry>
|
| 480 |
+
<mesh filename="meshes/forearm_roll_link.obj" />
|
| 481 |
+
</geometry>
|
| 482 |
+
</visual>
|
| 483 |
+
<collision name="forearm_roll_link-col-0">
|
| 484 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 485 |
+
<geometry>
|
| 486 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-0.obj" scale="0.10921817166108938 0.037120127869555986 0.1086142768585121" />
|
| 487 |
+
</geometry>
|
| 488 |
+
</collision>
|
| 489 |
+
<collision name="forearm_roll_link-col-1">
|
| 490 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 491 |
+
<geometry>
|
| 492 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-1.obj" scale="0.10410858460532649 0.03987168065867325 0.07544517540209343" />
|
| 493 |
+
</geometry>
|
| 494 |
+
</collision>
|
| 495 |
+
<collision name="forearm_roll_link-col-2">
|
| 496 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 497 |
+
<geometry>
|
| 498 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-2.obj" scale="0.02447981412983327 0.0679692432889695 0.026544595519252468" />
|
| 499 |
+
</geometry>
|
| 500 |
+
</collision>
|
| 501 |
+
<collision name="forearm_roll_link-col-3">
|
| 502 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 503 |
+
<geometry>
|
| 504 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-3.obj" scale="0.024217415418487126 0.024099781656170535 0.04493785760723842" />
|
| 505 |
+
</geometry>
|
| 506 |
+
</collision>
|
| 507 |
+
<collision name="forearm_roll_link-col-4">
|
| 508 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 509 |
+
<geometry>
|
| 510 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-4.obj" scale="0.04742100791090131 0.093479086936679 0.10769642442831169" />
|
| 511 |
+
</geometry>
|
| 512 |
+
</collision>
|
| 513 |
+
<collision name="forearm_roll_link-col-5">
|
| 514 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 515 |
+
<geometry>
|
| 516 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-5.obj" scale="0.02612705275487747 0.02443574669527479 0.045006078055148675" />
|
| 517 |
+
</geometry>
|
| 518 |
+
</collision>
|
| 519 |
+
<collision name="forearm_roll_link-col-6">
|
| 520 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 521 |
+
<geometry>
|
| 522 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-6.obj" scale="0.027757616772894785 0.03368523185380254 0.0323782971893902" />
|
| 523 |
+
</geometry>
|
| 524 |
+
</collision>
|
| 525 |
+
<collision name="forearm_roll_link-col-7">
|
| 526 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 527 |
+
<geometry>
|
| 528 |
+
<mesh filename="meshes/collision/forearm_roll_link-col-7.obj" scale="0.024153395543369406 0.034027475543903875 0.016539005761492365" />
|
| 529 |
+
</geometry>
|
| 530 |
+
</collision>
|
| 531 |
+
</link>
|
| 532 |
+
<joint name="forearm_roll_joint" type="revolute">
|
| 533 |
+
<origin rpy="0 0 0" xyz="0.197 0 0" />
|
| 534 |
+
<parent link="elbow_flex_link" />
|
| 535 |
+
<child link="forearm_roll_link" />
|
| 536 |
+
<axis xyz="1 0 0" />
|
| 537 |
+
<dynamics damping="5.0" />
|
| 538 |
+
<limit effort="29.35" lower="-6.283185307179586" upper="6.283185307179586" velocity="1.571" />
|
| 539 |
+
</joint>
|
| 540 |
+
<link name="wrist_flex_link">
|
| 541 |
+
<inertial>
|
| 542 |
+
<origin rpy="0 0 0" xyz="0.0882 0.0009 -0.0001" />
|
| 543 |
+
<mass value="1.725" />
|
| 544 |
+
<inertia ixx="0.0018" ixy="-0.0001" ixz="-0.0" iyy="0.0042" iyz="0.0" izz="0.0042" />
|
| 545 |
+
</inertial>
|
| 546 |
+
<visual>
|
| 547 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 548 |
+
<geometry>
|
| 549 |
+
<mesh filename="meshes/wrist_flex_link.obj" />
|
| 550 |
+
</geometry>
|
| 551 |
+
</visual>
|
| 552 |
+
<collision name="wrist_flex_link-col-0">
|
| 553 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 554 |
+
<geometry>
|
| 555 |
+
<mesh filename="meshes/collision/wrist_flex_link-col-0.obj" scale="0.178137908988157 0.12147886098144775 0.10399886789257294" />
|
| 556 |
+
</geometry>
|
| 557 |
+
</collision>
|
| 558 |
+
</link>
|
| 559 |
+
<joint name="wrist_flex_joint" type="revolute">
|
| 560 |
+
<origin rpy="0 0 0" xyz="0.1245 0 0" />
|
| 561 |
+
<parent link="forearm_roll_link" />
|
| 562 |
+
<child link="wrist_flex_link" />
|
| 563 |
+
<axis xyz="0 1 0" />
|
| 564 |
+
<dynamics damping="1.0" />
|
| 565 |
+
<limit effort="25.7" lower="-2.16" upper="2.16" velocity="2.268" />
|
| 566 |
+
</joint>
|
| 567 |
+
<link name="wrist_roll_link">
|
| 568 |
+
<inertial>
|
| 569 |
+
<origin rpy="0 0 0" xyz="0.0095 0.0004 -0.0002" />
|
| 570 |
+
<mass value="0.1354" />
|
| 571 |
+
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
|
| 572 |
+
</inertial>
|
| 573 |
+
<visual>
|
| 574 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 575 |
+
<geometry>
|
| 576 |
+
<mesh filename="meshes/wrist_roll_link.obj" />
|
| 577 |
+
</geometry>
|
| 578 |
+
</visual>
|
| 579 |
+
<collision name="wrist_roll_link-col-0">
|
| 580 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 581 |
+
<geometry>
|
| 582 |
+
<mesh filename="meshes/collision/wrist_roll_link-col-0.obj" scale="0.04257338753943578 0.1050320878251495 0.1045717472246548" />
|
| 583 |
+
</geometry>
|
| 584 |
+
</collision>
|
| 585 |
+
</link>
|
| 586 |
+
<joint name="wrist_roll_joint" type="revolute">
|
| 587 |
+
<origin rpy="0 0 0" xyz="0.1385 0 0" />
|
| 588 |
+
<parent link="wrist_flex_link" />
|
| 589 |
+
<child link="wrist_roll_link" />
|
| 590 |
+
<axis xyz="1 0 0" />
|
| 591 |
+
<limit effort="7.36" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.268" />
|
| 592 |
+
<dynamics damping="5.0" />
|
| 593 |
+
</joint>
|
| 594 |
+
<link name="gripper_link">
|
| 595 |
+
<inertial>
|
| 596 |
+
<origin rpy="0 0 0" xyz="-0.0900 -0.0001 -0.0017" />
|
| 597 |
+
<mass value="1.5175" />
|
| 598 |
+
<inertia ixx="0.0013" ixy="-0.0" ixz="0.0" iyy="0.0019" iyz="-0.0" izz="0.0024" />
|
| 599 |
+
</inertial>
|
| 600 |
+
<visual>
|
| 601 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 602 |
+
<geometry>
|
| 603 |
+
<mesh filename="meshes/gripper_link.obj" />
|
| 604 |
+
</geometry>
|
| 605 |
+
</visual>
|
| 606 |
+
<collision name="gripper_link-col-0">
|
| 607 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 608 |
+
<geometry>
|
| 609 |
+
<mesh filename="meshes/collision/gripper_link-col-0.obj" scale="0.12201180234828604 0.13213609263469575 0.08787660210757336" />
|
| 610 |
+
</geometry>
|
| 611 |
+
</collision>
|
| 612 |
+
</link>
|
| 613 |
+
<joint name="gripper_axis" type="fixed">
|
| 614 |
+
<origin rpy="0 0 0" xyz="0.16645 0 0" />
|
| 615 |
+
<parent link="wrist_roll_link" />
|
| 616 |
+
<child link="gripper_link" />
|
| 617 |
+
<axis xyz="0 1 0" />
|
| 618 |
+
</joint>
|
| 619 |
+
<link name="r_gripper_finger_link">
|
| 620 |
+
<inertial>
|
| 621 |
+
<origin rpy="0 0 0" xyz="-0.01 0 0" />
|
| 622 |
+
<mass value="0.0798" />
|
| 623 |
+
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
|
| 624 |
+
</inertial>
|
| 625 |
+
<visual>
|
| 626 |
+
<origin rpy="0 0 0" xyz="0 -0.01 0" />
|
| 627 |
+
<geometry>
|
| 628 |
+
<box size="0.06 0.015 0.045" />
|
| 629 |
+
</geometry>
|
| 630 |
+
</visual>
|
| 631 |
+
<collision>
|
| 632 |
+
<origin rpy="0 0 0" xyz="0 -0.01 0" />
|
| 633 |
+
<geometry>
|
| 634 |
+
<box size="0.06 0.015 0.045" />
|
| 635 |
+
</geometry>
|
| 636 |
+
</collision>
|
| 637 |
+
</link>
|
| 638 |
+
<joint name="r_gripper_finger_joint" type="prismatic">
|
| 639 |
+
<origin rpy="0 0 0" xyz="0 0.015425 0" />
|
| 640 |
+
<parent link="gripper_link" />
|
| 641 |
+
<child link="r_gripper_finger_link" />
|
| 642 |
+
<axis xyz="0 1 0" />
|
| 643 |
+
<limit effort="60" lower="0.0" upper="0.05" velocity="0.25" />
|
| 644 |
+
<dynamics damping="0.0" friction="1.0" />
|
| 645 |
+
</joint>
|
| 646 |
+
<link name="l_gripper_finger_link">
|
| 647 |
+
<inertial>
|
| 648 |
+
<origin rpy="0 0 0" xyz="-0.01 0 0" />
|
| 649 |
+
<mass value="0.0798" />
|
| 650 |
+
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
|
| 651 |
+
</inertial>
|
| 652 |
+
<visual>
|
| 653 |
+
<origin rpy="0 0 0" xyz="0 0.01 0" />
|
| 654 |
+
<geometry>
|
| 655 |
+
<box size="0.06 0.015 0.045" />
|
| 656 |
+
</geometry>
|
| 657 |
+
</visual>
|
| 658 |
+
<collision>
|
| 659 |
+
<origin rpy="0 0 0" xyz="0 0.01 0" />
|
| 660 |
+
<geometry>
|
| 661 |
+
<box size="0.06 0.015 0.045" />
|
| 662 |
+
</geometry>
|
| 663 |
+
</collision>
|
| 664 |
+
</link>
|
| 665 |
+
<joint name="l_gripper_finger_joint" type="prismatic">
|
| 666 |
+
<origin rpy="0 0 0" xyz="0 -0.015425 0" />
|
| 667 |
+
<parent link="gripper_link" />
|
| 668 |
+
<child link="l_gripper_finger_link" />
|
| 669 |
+
<axis xyz="0 -1 0" />
|
| 670 |
+
<limit effort="60" lower="0.0" upper="0.05" velocity="0.25" />
|
| 671 |
+
<dynamics damping="0.0" friction="1.0" />
|
| 672 |
+
</joint>
|
| 673 |
+
<link name="estop_link">
|
| 674 |
+
<inertial>
|
| 675 |
+
<origin rpy="0 0 0" xyz="0.002434512737072 -0.00330608315239905 0.00665139196650039" />
|
| 676 |
+
<mass value="0.00196130439134723" />
|
| 677 |
+
<inertia ixx="3.02810026604417E-07" ixy="-1.5862023118056E-08" ixz="3.16561396557437E-08" iyy="2.93322917127605E-07" iyz="-4.28833522751273E-08" izz="2.28513272627183E-07" />
|
| 678 |
+
</inertial>
|
| 679 |
+
<visual>
|
| 680 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 681 |
+
<geometry>
|
| 682 |
+
<mesh filename="meshes/estop_link.obj" />
|
| 683 |
+
</geometry>
|
| 684 |
+
<material name="">
|
| 685 |
+
<color rgba="0.8 0 0 1" />
|
| 686 |
+
</material>
|
| 687 |
+
</visual>
|
| 688 |
+
</link>
|
| 689 |
+
<joint name="estop_joint" type="fixed">
|
| 690 |
+
<origin rpy="1.5708 0 0" xyz="-0.12465 0.23892 0.31127" />
|
| 691 |
+
<parent link="base_link" />
|
| 692 |
+
<child link="estop_link" />
|
| 693 |
+
<axis xyz="0 0 0" />
|
| 694 |
+
</joint>
|
| 695 |
+
<link name="laser_link">
|
| 696 |
+
<inertial>
|
| 697 |
+
<origin rpy="0 0 0" xyz="-0.0306228970175641 0.0007091682908278 0.0551974119471302" />
|
| 698 |
+
<mass value="0.00833634573995571" />
|
| 699 |
+
<inertia ixx="1.01866461240801E-06" ixy="-5.88447626567756E-08" ixz="7.83857244757914E-08" iyy="5.10039589974707E-07" iyz="-7.12664289617235E-09" izz="1.28270671527309E-06" />
|
| 700 |
+
</inertial>
|
| 701 |
+
<visual>
|
| 702 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 703 |
+
<geometry>
|
| 704 |
+
<mesh filename="meshes/laser_link.obj" />
|
| 705 |
+
</geometry>
|
| 706 |
+
</visual>
|
| 707 |
+
</link>
|
| 708 |
+
<joint name="laser_joint" type="fixed">
|
| 709 |
+
<origin rpy="3.14159265359 0 0" xyz="0.235 0 0.2878" />
|
| 710 |
+
<parent link="base_link" />
|
| 711 |
+
<child link="laser_link" />
|
| 712 |
+
<axis xyz="0 0 0" />
|
| 713 |
+
</joint>
|
| 714 |
+
<link name="torso_fixed_link">
|
| 715 |
+
<inertial>
|
| 716 |
+
<origin rpy="0 0 0" xyz="-0.0722 0.0057 0.2656" />
|
| 717 |
+
<mass value="13.2775" />
|
| 718 |
+
<inertia ixx="0.3861" ixy="0.0015" ixz="-0.0102" iyy="0.3388" iyz="0.0117" izz="0.1018" />
|
| 719 |
+
</inertial>
|
| 720 |
+
<visual>
|
| 721 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 722 |
+
<geometry>
|
| 723 |
+
<mesh filename="meshes/torso_fixed_link.obj" />
|
| 724 |
+
</geometry>
|
| 725 |
+
</visual>
|
| 726 |
+
<collision name="torso_fixed_link-col-0">
|
| 727 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 728 |
+
<geometry>
|
| 729 |
+
<mesh filename="meshes/collision/torso_fixed_link-col-0.obj" scale="0.13622299999999998 0.3107 0.461875" />
|
| 730 |
+
</geometry>
|
| 731 |
+
</collision>
|
| 732 |
+
</link>
|
| 733 |
+
<joint name="torso_fixed_joint" type="fixed">
|
| 734 |
+
<origin rpy="-6.12303176911189E-17 0 0" xyz="-0.086875 0 0.377425" />
|
| 735 |
+
<parent link="base_link" />
|
| 736 |
+
<child link="torso_fixed_link" />
|
| 737 |
+
<axis xyz="0 1 0" />
|
| 738 |
+
</joint>
|
| 739 |
+
<link name="head_camera_link">
|
| 740 |
+
<inertial>
|
| 741 |
+
<mass value="0.0001" />
|
| 742 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 743 |
+
<inertia ixx="0.0000001" ixy="0.0" ixz="0.0" iyy="0.0000001" iyz="0.0" izz="0.0000001" />
|
| 744 |
+
</inertial>
|
| 745 |
+
</link>
|
| 746 |
+
<joint name="head_camera_joint" type="fixed">
|
| 747 |
+
<origin rpy="0 0 0" xyz="0.055 0 0.0225" />
|
| 748 |
+
<parent link="head_tilt_link" />
|
| 749 |
+
<child link="head_camera_link" />
|
| 750 |
+
</joint>
|
| 751 |
+
<link name="head_camera_rgb_frame">
|
| 752 |
+
<inertial>
|
| 753 |
+
<mass value="0.0001" />
|
| 754 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 755 |
+
<inertia ixx="0.0000001" ixy="0.0" ixz="0.0" iyy="0.0000001" iyz="0.0" izz="0.0000001" />
|
| 756 |
+
</inertial>
|
| 757 |
+
</link>
|
| 758 |
+
<joint name="head_camera_rgb_joint" type="fixed">
|
| 759 |
+
<origin rpy="0 0 0" xyz="0 0.02 0" />
|
| 760 |
+
<parent link="head_camera_link" />
|
| 761 |
+
<child link="head_camera_rgb_frame" />
|
| 762 |
+
</joint>
|
| 763 |
+
<link name="head_camera_rgb_optical_frame">
|
| 764 |
+
<inertial>
|
| 765 |
+
<mass value="0.0001" />
|
| 766 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 767 |
+
<inertia ixx="0.0000001" ixy="0.0" ixz="0.0" iyy="0.0000001" iyz="0.0" izz="0.0000001" />
|
| 768 |
+
</inertial>
|
| 769 |
+
</link>
|
| 770 |
+
<joint name="head_camera_rgb_optical_joint" type="fixed">
|
| 771 |
+
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0" />
|
| 772 |
+
<parent link="head_camera_rgb_frame" />
|
| 773 |
+
<child link="head_camera_rgb_optical_frame" />
|
| 774 |
+
</joint>
|
| 775 |
+
<link name="head_camera_depth_frame">
|
| 776 |
+
<inertial>
|
| 777 |
+
<mass value="0.0001" />
|
| 778 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 779 |
+
<inertia ixx="0.0000001" ixy="0.0" ixz="0.0" iyy="0.0000001" iyz="0.0" izz="0.0000001" />
|
| 780 |
+
</inertial>
|
| 781 |
+
</link>
|
| 782 |
+
<joint name="head_camera_depth_joint" type="fixed">
|
| 783 |
+
<origin rpy="0 0 0" xyz="0 0.045 0" />
|
| 784 |
+
<parent link="head_camera_link" />
|
| 785 |
+
<child link="head_camera_depth_frame" />
|
| 786 |
+
</joint>
|
| 787 |
+
<link name="head_camera_depth_optical_frame">
|
| 788 |
+
<inertial>
|
| 789 |
+
<mass value="0.0001" />
|
| 790 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 791 |
+
<inertia ixx="0.0000001" ixy="0.0" ixz="0.0" iyy="0.0000001" iyz="0.0" izz="0.0000001" />
|
| 792 |
+
</inertial>
|
| 793 |
+
</link>
|
| 794 |
+
<joint name="head_camera_depth_optical_joint" type="fixed">
|
| 795 |
+
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0" />
|
| 796 |
+
<parent link="head_camera_depth_frame" />
|
| 797 |
+
<child link="head_camera_depth_optical_frame" />
|
| 798 |
+
</joint>
|
| 799 |
+
<link name="eyes">
|
| 800 |
+
<inertial>
|
| 801 |
+
<mass value="0.001" />
|
| 802 |
+
<origin xyz="0 0 0" />
|
| 803 |
+
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
|
| 804 |
+
</inertial>
|
| 805 |
+
</link>
|
| 806 |
+
<joint name="eye_joint" type="fixed">
|
| 807 |
+
<origin rpy="0 0 0" xyz="0 0 0" />
|
| 808 |
+
<parent link="head_camera_link" />
|
| 809 |
+
<child link="eyes" />
|
| 810 |
+
</joint>
|
| 811 |
+
</robot>
|
omnigibson-robot-assets/models/fetch/urdf/meshes/base_link.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/base_link.obj.mtl
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
#
|
| 2 |
+
# Wavefront material file
|
| 3 |
+
# Converted by Meshlab Group
|
| 4 |
+
#
|
| 5 |
+
|
| 6 |
+
newmtl material_0
|
| 7 |
+
Ka 0.200000 0.200000 0.200000
|
| 8 |
+
Kd 1.000000 1.000000 1.000000
|
| 9 |
+
Ks 1.000000 1.000000 1.000000
|
| 10 |
+
Tr 1.000000
|
| 11 |
+
illum 2
|
| 12 |
+
Ns 0.000000
|
| 13 |
+
map_Kd base_link_uv.png
|
| 14 |
+
|
omnigibson-robot-assets/models/fetch/urdf/meshes/bellows_link.STL
ADDED
|
Binary file (71.9 kB). View file
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/bellows_link.mtl
ADDED
|
@@ -0,0 +1,6 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
newmtl default_mtl
|
| 2 |
+
|
| 3 |
+
Ka 0.200000 0.200000 0.200000
|
| 4 |
+
Kd 0 0.40000 0.80000
|
| 5 |
+
Ks 1.000000 1.000000 1.000000
|
| 6 |
+
Tr 1.000000
|
omnigibson-robot-assets/models/fetch/urdf/meshes/bellows_link.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/bellows_link_collision.STL
ADDED
|
Binary file (1.08 kB). View file
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/elbow_flex_link.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/elbow_flex_link_collision.STL
ADDED
|
Binary file (48.7 kB). View file
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/estop_link.dae
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/estop_link.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/forearm_roll_link.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/forearm_roll_link.obj.mtl
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
#
|
| 2 |
+
# Wavefront material file
|
| 3 |
+
# Converted by Meshlab Group
|
| 4 |
+
#
|
| 5 |
+
|
| 6 |
+
newmtl material_0
|
| 7 |
+
Ka 0.200000 0.200000 0.200000
|
| 8 |
+
Kd 1.000000 1.000000 1.000000
|
| 9 |
+
Ks 1.000000 1.000000 1.000000
|
| 10 |
+
Tr 1.000000
|
| 11 |
+
illum 2
|
| 12 |
+
Ns 0.000000
|
| 13 |
+
map_Kd forearm_roll_uv.png
|
| 14 |
+
|
omnigibson-robot-assets/models/fetch/urdf/meshes/forearm_roll_link_collision.STL
ADDED
|
Binary file (50.1 kB). View file
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/gripper_link.dae
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/gripper_link.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/gripper_link.obj.mtl
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
#
|
| 2 |
+
# Wavefront material file
|
| 3 |
+
# Converted by Meshlab Group
|
| 4 |
+
#
|
| 5 |
+
|
| 6 |
+
newmtl material_0
|
| 7 |
+
Ka 0.200000 0.200000 0.200000
|
| 8 |
+
Kd 1.000000 1.000000 1.000000
|
| 9 |
+
Ks 1.000000 1.000000 1.000000
|
| 10 |
+
Tr 1.000000
|
| 11 |
+
illum 2
|
| 12 |
+
Ns 0.000000
|
| 13 |
+
map_Kd gripper_uv.png
|
| 14 |
+
|
omnigibson-robot-assets/models/fetch/urdf/meshes/head_pan_link.obj.mtl
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
#
|
| 2 |
+
# Wavefront material file
|
| 3 |
+
# Converted by Meshlab Group
|
| 4 |
+
#
|
| 5 |
+
|
| 6 |
+
newmtl material_0
|
| 7 |
+
Ka 0.200000 0.200000 0.200000
|
| 8 |
+
Kd 1.000000 1.000000 1.000000
|
| 9 |
+
Ks 1.000000 1.000000 1.000000
|
| 10 |
+
Tr 1.000000
|
| 11 |
+
illum 2
|
| 12 |
+
Ns 0.000000
|
| 13 |
+
map_Kd head_pan_uv.png
|
| 14 |
+
|
omnigibson-robot-assets/models/fetch/urdf/meshes/head_tilt_link.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/head_tilt_link.obj.mtl
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
#
|
| 2 |
+
# Wavefront material file
|
| 3 |
+
# Converted by Meshlab Group
|
| 4 |
+
#
|
| 5 |
+
|
| 6 |
+
newmtl material_0
|
| 7 |
+
Ka 0.200000 0.200000 0.200000
|
| 8 |
+
Kd 1.000000 1.000000 1.000000
|
| 9 |
+
Ks 1.000000 1.000000 1.000000
|
| 10 |
+
Tr 1.000000
|
| 11 |
+
illum 2
|
| 12 |
+
Ns 0.000000
|
| 13 |
+
map_Kd head_tilt_uv.png
|
| 14 |
+
|
omnigibson-robot-assets/models/fetch/urdf/meshes/head_tilt_link_collision.STL
ADDED
|
Binary file (35.4 kB). View file
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/l_gripper_finger_link.STL
ADDED
|
Binary file (11.5 kB). View file
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/l_wheel_link.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/l_wheel_link_collision.STL
ADDED
|
Binary file (68.7 kB). View file
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/r_gripper_finger_link.STL
ADDED
|
Binary file (11.5 kB). View file
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/r_wheel_link.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/r_wheel_link_collision.STL
ADDED
|
Binary file (68.7 kB). View file
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/shoulder_lift_link.obj
ADDED
|
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omnigibson-robot-assets/models/fetch/urdf/meshes/shoulder_pan_link.obj.mtl
ADDED
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@@ -0,0 +1,14 @@
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| 1 |
+
#
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| 2 |
+
# Wavefront material file
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| 3 |
+
# Converted by Meshlab Group
|
| 4 |
+
#
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| 5 |
+
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| 6 |
+
newmtl material_0
|
| 7 |
+
Ka 0.200000 0.200000 0.200000
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| 8 |
+
Kd 1.000000 1.000000 1.000000
|
| 9 |
+
Ks 1.000000 1.000000 1.000000
|
| 10 |
+
Tr 1.000000
|
| 11 |
+
illum 2
|
| 12 |
+
Ns 0.000000
|
| 13 |
+
map_Kd shoulder_pan_uv.png
|
| 14 |
+
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omnigibson-robot-assets/models/fetch/urdf/meshes/torso_fixed_link.STL
ADDED
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Binary file (5.88 kB). View file
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omnigibson-robot-assets/models/fetch/urdf/meshes/torso_fixed_link.dae
ADDED
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@@ -0,0 +1,137 @@
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| 1 |
+
<?xml version="1.0" encoding="UTF-8"?>
|
| 2 |
+
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
|
| 3 |
+
<asset>
|
| 4 |
+
<contributor>
|
| 5 |
+
<author>VCGLab</author>
|
| 6 |
+
<authoring_tool>VCGLib | MeshLab</authoring_tool>
|
| 7 |
+
</contributor>
|
| 8 |
+
<up_axis>Y_UP</up_axis>
|
| 9 |
+
<created>Fri Oct 2 23:19:05 2015</created>
|
| 10 |
+
<modified>Fri Oct 2 23:19:05 2015</modified>
|
| 11 |
+
</asset>
|
| 12 |
+
<library_images>
|
| 13 |
+
<image id="texture0" name="texture0">
|
| 14 |
+
<init_from>torso_fixed_uv.png</init_from>
|
| 15 |
+
</image>
|
| 16 |
+
</library_images>
|
| 17 |
+
<library_materials>
|
| 18 |
+
<material id="material0" name="material0">
|
| 19 |
+
<instance_effect url="#material0-fx"/>
|
| 20 |
+
</material>
|
| 21 |
+
</library_materials>
|
| 22 |
+
<library_effects>
|
| 23 |
+
<effect id="material0-fx">
|
| 24 |
+
<profile_COMMON>
|
| 25 |
+
<newparam sid="texture0-surface">
|
| 26 |
+
<surface type="2D">
|
| 27 |
+
<init_from>texture0</init_from>
|
| 28 |
+
<format>A8R8G8B8</format>
|
| 29 |
+
</surface>
|
| 30 |
+
</newparam>
|
| 31 |
+
<newparam sid="texture0-sampler">
|
| 32 |
+
<sampler2D>
|
| 33 |
+
<source>texture0-surface</source>
|
| 34 |
+
<minfilter>LINEAR</minfilter>
|
| 35 |
+
<magfilter>LINEAR</magfilter>
|
| 36 |
+
</sampler2D>
|
| 37 |
+
</newparam>
|
| 38 |
+
<technique sid="common">
|
| 39 |
+
<blinn>
|
| 40 |
+
<emission>
|
| 41 |
+
<color>0 0 0 1</color>
|
| 42 |
+
</emission>
|
| 43 |
+
<ambient>
|
| 44 |
+
<color>0 0 0 1</color>
|
| 45 |
+
</ambient>
|
| 46 |
+
<diffuse>
|
| 47 |
+
<texture texture="texture0" texcoord="UVSET0"/>
|
| 48 |
+
</diffuse>
|
| 49 |
+
<specular>
|
| 50 |
+
<color>0 0 0 1</color>
|
| 51 |
+
</specular>
|
| 52 |
+
<shininess>
|
| 53 |
+
<float>0.3</float>
|
| 54 |
+
</shininess>
|
| 55 |
+
<reflective>
|
| 56 |
+
<color>0 0 0 1</color>
|
| 57 |
+
</reflective>
|
| 58 |
+
<reflectivity>
|
| 59 |
+
<float>0.5</float>
|
| 60 |
+
</reflectivity>
|
| 61 |
+
<transparent>
|
| 62 |
+
<color>0 0 0 1</color>
|
| 63 |
+
</transparent>
|
| 64 |
+
<transparency>
|
| 65 |
+
<float>0</float>
|
| 66 |
+
</transparency>
|
| 67 |
+
<index_of_refraction>
|
| 68 |
+
<float>0</float>
|
| 69 |
+
</index_of_refraction>
|
| 70 |
+
</blinn>
|
| 71 |
+
</technique>
|
| 72 |
+
</profile_COMMON>
|
| 73 |
+
</effect>
|
| 74 |
+
</library_effects>
|
| 75 |
+
<library_geometries>
|
| 76 |
+
<geometry id="shape0-lib" name="shape0">
|
| 77 |
+
<mesh>
|
| 78 |
+
<source id="shape0-lib-positions" name="position">
|
| 79 |
+
<float_array id="shape0-lib-positions-array" count="180">-0.148316 0.123305 -0.0185692 -0.159329 0.0995186 0.443306 -0.148316 0.123305 0.443306 -0.117466 -0.15535 -0.0185692 -0.125949 -0.150084 -0.0185692 -0.0350655 -0.15535 -0.0185692 -0.127432 -0.152834 -0.0185692 -0.164945 -0.0738821 -0.0185692 -0.164945 0.0738819 -0.0185692 -0.0350655 0.152225 -0.0185692 -0.0335655 -0.15535 -0.0181673 -0.13501 0.14589 0.443306 -0.135011 0.14589 -0.0185692 -0.0350655 0.15535 -0.0185692 -0.125949 0.150084 -0.0185692 -0.117465 0.15535 -0.0185692 -0.117465 -0.15535 0.443306 -0.127432 -0.152834 0.443306 -0.15933 -0.0995187 -0.0185692 -0.168288 -0.0723685 -0.0185692 -0.15933 0.0995186 -0.0185692 -0.168288 0.0723684 -0.0185692 -0.0324674 0.152225 -0.0170693 -0.0324674 -0.15535 -0.0170693 -0.148316 -0.123305 -0.0185692 -0.13501 -0.14589 0.443306 -0.148316 -0.123305 0.443306 -0.127432 0.152834 0.443306 -0.117465 0.15535 0.443306 -0.032467 0.152225 0.441806 -0.0320651 -0.15535 0.440306 -0.0320651 0.152225 0.440306 -0.156432 0.0983472 0.443306 -0.159329 -0.0995187 0.443306 -0.167944 -0.0747621 -0.0185692 -0.167943 -0.0747621 0.443306 -0.145549 -0.121854 -0.0185692 -0.167944 0.0747619 -0.0185692 -0.145549 0.121854 -0.0185692 -0.0335655 0.152225 -0.0181673 -0.127432 0.152834 -0.0185692 -0.0350651 -0.15535 0.443306 -0.0350651 0.152225 0.443306 -0.156432 -0.0983473 0.443306 -0.135011 -0.14589 -0.0185692 -0.167943 0.0747619 0.443306 -0.0320655 0.152225 -0.0155693 -0.0320655 -0.15535 -0.0155693 -0.0335652 -0.15535 0.442904 -0.0335651 0.152225 0.442904 -0.0324671 -0.15535 0.441806 -0.168287 0.0723684 0.443306 -0.168287 -0.0723685 0.443306 -0.0350651 0.15535 0.443306 -0.0335651 0.15535 0.442904 -0.032467 0.15535 0.441806 -0.0320651 0.15535 0.440306 -0.0324674 0.15535 -0.0170693 -0.0320655 0.15535 -0.0155693 -0.0335655 0.15535 -0.0181673</float_array>
|
| 80 |
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<technique_common>
|
| 81 |
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<accessor count="60" source="#shape0-lib-positions-array" stride="3">
|
| 82 |
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<param name="X" type="float"/>
|
| 83 |
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<param name="Y" type="float"/>
|
| 84 |
+
<param name="Z" type="float"/>
|
| 85 |
+
</accessor>
|
| 86 |
+
</technique_common>
|
| 87 |
+
</source>
|
| 88 |
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<source id="shape0-lib-normals" name="normal">
|
| 89 |
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|
| 90 |
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<technique_common>
|
| 91 |
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|
| 94 |
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|
| 95 |
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</accessor>
|
| 96 |
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</technique_common>
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| 97 |
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</source>
|
| 98 |
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<source id="shape0-lib-map" name="map">
|
| 99 |
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55 198 595 56 198 596 54 199 597 56 199 598 53 199 599 29 200 600 56 200 601 55 200 602 29 201 603 31 201 604 56 201 605 52 202 606 34 202 607 35 202 608 52 203 609 19 203 610 34 203 611 57 204 612 39 204 613 59 204 614 22 205 615 39 205 616 57 205 617 59 206 618 39 206 619 13 206 620 13 207 621 39 207 622 9 207 623 58 208 624 46 208 625 57 208 626 57 209 627 46 209 628 22 209 629 56 210 630 46 210 631 58 210 632 46 211 633 56 211 634 31 211 635 11 212 636 40 212 637 12 212 638 27 213 639 40 213 640 11 213 641 52 214 642 45 214 643 51 214 644 43 215 645 45 215 646 33 215 647 35 216 648 45 216 649 52 216 650 32 217 651 1 217 652 45 217 653 33 218 654 45 218 655 35 218 656 45 219 657 43 219 658 32 219 659 21 220 660 51 220 661 45 220 662 37 221 663 21 221 664 45 221 665 31 222 666 47 222 667 46 222 668 30 223 669 47 223 670 31 223 671 10 224 672 23 224 673 50 224 674 3 225 675 5 225 676 50 225 677 10 226 678 50 226 679 5 226 680 16 227 681 3 227 682 50 227 683 47 228 684 50 228 685 23 228 686 41 229 687 16 229 688 50 229 689 50 230 690 47 230 691 30 230 692 48 231 693 41 231 694 50 231 695</p>
|
| 115 |
+
</triangles>
|
| 116 |
+
</mesh>
|
| 117 |
+
</geometry>
|
| 118 |
+
</library_geometries>
|
| 119 |
+
<library_visual_scenes>
|
| 120 |
+
<visual_scene id="VisualSceneNode" name="VisualScene">
|
| 121 |
+
<node id="node" name="node">
|
| 122 |
+
<instance_geometry url="#shape0-lib">
|
| 123 |
+
<bind_material>
|
| 124 |
+
<technique_common>
|
| 125 |
+
<instance_material symbol="material0" target="#material0">
|
| 126 |
+
<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD"/>
|
| 127 |
+
</instance_material>
|
| 128 |
+
</technique_common>
|
| 129 |
+
</bind_material>
|
| 130 |
+
</instance_geometry>
|
| 131 |
+
</node>
|
| 132 |
+
</visual_scene>
|
| 133 |
+
</library_visual_scenes>
|
| 134 |
+
<scene>
|
| 135 |
+
<instance_visual_scene url="#VisualSceneNode"/>
|
| 136 |
+
</scene>
|
| 137 |
+
</COLLADA>
|
omnigibson-robot-assets/models/fetch/urdf/meshes/torso_fixed_link.obj
ADDED
|
@@ -0,0 +1,828 @@
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#
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#
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####
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f 1//1 2//2 3//3
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f 4//4 5//5 6//6
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|
| 713 |
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f 19//19 20//20 21//21
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| 718 |
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f 25//25 26//26 27//27
|
| 719 |
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f 28//28 29//29 30//30
|
| 720 |
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f 31//31 32//32 33//33
|
| 721 |
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f 34//34 35//35 36//36
|
| 722 |
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f 37//37 38//38 39//39
|
| 723 |
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f 40//40 41//41 42//42
|
| 724 |
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|
| 726 |
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| 728 |
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| 729 |
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| 730 |
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|
| 731 |
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| 746 |
+
f 109//109 110//110 111//111
|
| 747 |
+
f 112//112 113//113 114//114
|
| 748 |
+
f 115//115 116//116 117//117
|
| 749 |
+
f 118//118 119//119 120//120
|
| 750 |
+
f 121//121 122//122 123//123
|
| 751 |
+
f 124//124 125//125 126//126
|
| 752 |
+
f 127//127 128//128 129//129
|
| 753 |
+
f 130//130 131//131 132//132
|
| 754 |
+
f 133//133 134//134 135//135
|
| 755 |
+
f 136//136 137//137 138//138
|
| 756 |
+
f 139//139 140//140 141//141
|
| 757 |
+
f 142//142 143//143 144//144
|
| 758 |
+
f 145//145 146//146 147//147
|
| 759 |
+
f 148//148 149//149 150//150
|
| 760 |
+
f 151//151 152//152 153//153
|
| 761 |
+
f 154//154 155//155 156//156
|
| 762 |
+
f 157//157 158//158 159//159
|
| 763 |
+
f 160//160 161//161 162//162
|
| 764 |
+
f 163//163 164//164 165//165
|
| 765 |
+
f 166//166 167//167 168//168
|
| 766 |
+
f 169//169 170//170 171//171
|
| 767 |
+
f 172//172 173//173 174//174
|
| 768 |
+
f 175//175 176//176 177//177
|
| 769 |
+
f 178//178 179//179 180//180
|
| 770 |
+
f 181//181 182//182 183//183
|
| 771 |
+
f 184//184 185//185 186//186
|
| 772 |
+
f 187//187 188//188 189//189
|
| 773 |
+
f 190//190 191//191 192//192
|
| 774 |
+
f 193//193 194//194 195//195
|
| 775 |
+
f 196//196 197//197 198//198
|
| 776 |
+
f 199//199 200//200 201//201
|
| 777 |
+
f 202//202 203//203 204//204
|
| 778 |
+
f 205//205 206//206 207//207
|
| 779 |
+
f 208//208 209//209 210//210
|
| 780 |
+
f 211//211 212//212 213//213
|
| 781 |
+
f 214//214 215//215 216//216
|
| 782 |
+
f 217//217 218//218 219//219
|
| 783 |
+
f 220//220 221//221 222//222
|
| 784 |
+
f 223//223 224//224 225//225
|
| 785 |
+
f 226//226 227//227 228//228
|
| 786 |
+
f 229//229 230//230 231//231
|
| 787 |
+
f 232//232 233//233 234//234
|
| 788 |
+
f 235//235 236//236 237//237
|
| 789 |
+
f 238//238 239//239 240//240
|
| 790 |
+
f 241//241 242//242 243//243
|
| 791 |
+
f 244//244 245//245 246//246
|
| 792 |
+
f 247//247 248//248 249//249
|
| 793 |
+
f 250//250 251//251 252//252
|
| 794 |
+
f 253//253 254//254 255//255
|
| 795 |
+
f 256//256 257//257 258//258
|
| 796 |
+
f 259//259 260//260 261//261
|
| 797 |
+
f 262//262 263//263 264//264
|
| 798 |
+
f 265//265 266//266 267//267
|
| 799 |
+
f 268//268 269//269 270//270
|
| 800 |
+
f 271//271 272//272 273//273
|
| 801 |
+
f 274//274 275//275 276//276
|
| 802 |
+
f 277//277 278//278 279//279
|
| 803 |
+
f 280//280 281//281 282//282
|
| 804 |
+
f 283//283 284//284 285//285
|
| 805 |
+
f 286//286 287//287 288//288
|
| 806 |
+
f 289//289 290//290 291//291
|
| 807 |
+
f 292//292 293//293 294//294
|
| 808 |
+
f 295//295 296//296 297//297
|
| 809 |
+
f 298//298 299//299 300//300
|
| 810 |
+
f 301//301 302//302 303//303
|
| 811 |
+
f 304//304 305//305 306//306
|
| 812 |
+
f 307//307 308//308 309//309
|
| 813 |
+
f 310//310 311//311 312//312
|
| 814 |
+
f 313//313 314//314 315//315
|
| 815 |
+
f 316//316 317//317 318//318
|
| 816 |
+
f 319//319 320//320 321//321
|
| 817 |
+
f 322//322 323//323 324//324
|
| 818 |
+
f 325//325 326//326 327//327
|
| 819 |
+
f 328//328 329//329 330//330
|
| 820 |
+
f 331//331 332//332 333//333
|
| 821 |
+
f 334//334 335//335 336//336
|
| 822 |
+
f 337//337 338//338 339//339
|
| 823 |
+
f 340//340 341//341 342//342
|
| 824 |
+
f 343//343 344//344 345//345
|
| 825 |
+
f 346//346 347//347 348//348
|
| 826 |
+
# 116 faces, 0 coords texture
|
| 827 |
+
|
| 828 |
+
# End of File
|
omnigibson-robot-assets/models/fetch/urdf/meshes/torso_fixed_link.obj.mtl
ADDED
|
@@ -0,0 +1,14 @@
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
#
|
| 2 |
+
# Wavefront material file
|
| 3 |
+
# Converted by Meshlab Group
|
| 4 |
+
#
|
| 5 |
+
|
| 6 |
+
newmtl material_0
|
| 7 |
+
Ka 0.200000 0.200000 0.200000
|
| 8 |
+
Kd 1.000000 1.000000 1.000000
|
| 9 |
+
Ks 1.000000 1.000000 1.000000
|
| 10 |
+
Tr 1.000000
|
| 11 |
+
illum 2
|
| 12 |
+
Ns 0.000000
|
| 13 |
+
map_Kd torso_fixed_uv.png
|
| 14 |
+
|
omnigibson-robot-assets/models/fetch/urdf/meshes/torso_lift_link_collision.STL
ADDED
|
Binary file (50.1 kB). View file
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/upperarm_roll_link.obj.mtl
ADDED
|
@@ -0,0 +1,14 @@
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
#
|
| 2 |
+
# Wavefront material file
|
| 3 |
+
# Converted by Meshlab Group
|
| 4 |
+
#
|
| 5 |
+
|
| 6 |
+
newmtl material_0
|
| 7 |
+
Ka 0.200000 0.200000 0.200000
|
| 8 |
+
Kd 1.000000 1.000000 1.000000
|
| 9 |
+
Ks 1.000000 1.000000 1.000000
|
| 10 |
+
Tr 1.000000
|
| 11 |
+
illum 2
|
| 12 |
+
Ns 0.000000
|
| 13 |
+
map_Kd upperarm_roll_uv.png
|
| 14 |
+
|
omnigibson-robot-assets/models/fetch/urdf/meshes/upperarm_roll_link_collision.STL
ADDED
|
Binary file (50 kB). View file
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/wrist_flex_link.dae
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/wrist_flex_link.obj.mtl
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
#
|
| 2 |
+
# Wavefront material file
|
| 3 |
+
# Converted by Meshlab Group
|
| 4 |
+
#
|
| 5 |
+
|
| 6 |
+
newmtl material_0
|
| 7 |
+
Ka 0.200000 0.200000 0.200000
|
| 8 |
+
Kd 1.000000 1.000000 1.000000
|
| 9 |
+
Ks 1.000000 1.000000 1.000000
|
| 10 |
+
Tr 1.000000
|
| 11 |
+
illum 2
|
| 12 |
+
Ns 0.000000
|
| 13 |
+
map_Kd wrist_flex_uv.png
|
| 14 |
+
|
omnigibson-robot-assets/models/fetch/urdf/meshes/wrist_flex_link_collision.STL
ADDED
|
Binary file (49.8 kB). View file
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/wrist_roll_link.dae
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/wrist_roll_link.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
omnigibson-robot-assets/models/fetch/urdf/meshes/wrist_roll_link_collision.STL
ADDED
|
Binary file (26.1 kB). View file
|
|
|
omnigibson.key
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
8Mbc8Ipy8vWecWhH0LJjHsPpYr6LfpEpx8KmrAonrvA=
|