Add 015_lamp
Browse files
objects/015_lamp/10125/mobility.urdf
ADDED
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@@ -0,0 +1,97 @@
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| 1 |
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<?xml version="1.0"?>
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| 2 |
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<robot name="desk_lamp">
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<!-- Materials -->
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<material name="mat_black"><color rgba="0.08 0.08 0.08 1.0"/></material>
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<material name="mat_gray"><color rgba="0.45 0.45 0.48 1.0"/></material>
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<material name="mat_blue"><color rgba="0.10 0.35 0.95 1.0"/></material>
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<material name="mat_white"><color rgba="0.95 0.95 0.95 1.0"/></material>
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<!-- Base -->
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<link name="base_link">
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<inertial>
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<origin xyz="0 0 0.015" rpy="0 0 0"/>
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<mass value="1.2"/>
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<inertia ixx="0.003" ixy="0.0" ixz="0.0"
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iyy="0.003" iyz="0.0"
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izz="0.005"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0.015" rpy="0 0 0"/>
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<geometry><box size="0.18 0.14 0.03"/></geometry>
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<material name="mat_black"/>
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</visual>
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<collision>
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<origin xyz="0 0 0.015" rpy="0 0 0"/>
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<geometry><box size="0.18 0.14 0.03"/></geometry>
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</collision>
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</link>
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<!-- Pole -->
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<link name="pole_link">
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<inertial>
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<origin xyz="0 0 0.12" rpy="0 0 0"/>
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<mass value="0.25"/>
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<inertia ixx="0.0006" ixy="0.0" ixz="0.0"
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iyy="0.0006" iyz="0.0"
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izz="0.0002"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0.12" rpy="0 0 0"/>
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<geometry><cylinder radius="0.012" length="0.24"/></geometry>
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<material name="mat_gray"/>
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</visual>
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<collision>
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<origin xyz="0 0 0.12" rpy="0 0 0"/>
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<geometry><cylinder radius="0.012" length="0.24"/></geometry>
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</collision>
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</link>
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<joint name="pole_joint" type="fixed">
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<parent link="base_link"/>
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<child link="pole_link"/>
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<origin xyz="-0.03 0 0.03" rpy="0 0 0"/>
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</joint>
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<!-- Lamp Head -->
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<link name="lamp_head_link">
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<inertial>
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<origin xyz="0.04 0 0.02" rpy="0 0 0"/>
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<mass value="0.18"/>
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<inertia ixx="0.0005" ixy="0.0" ixz="0.0"
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iyy="0.0008" iyz="0.0"
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izz="0.0006"/>
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</inertial>
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<visual name="shade_visual">
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<origin xyz="0.04 0 0.02" rpy="0 0 0"/>
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<geometry><box size="0.12 0.08 0.05"/></geometry>
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<material name="mat_blue"/>
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</visual>
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<visual name="panel_visual">
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<origin xyz="0.09 0 0.005" rpy="0 0 0"/>
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<geometry><box size="0.02 0.06 0.02"/></geometry>
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<material name="mat_white"/>
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</visual>
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<collision>
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<origin xyz="0.04 0 0.02" rpy="0 0 0"/>
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<geometry><box size="0.12 0.08 0.05"/></geometry>
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</collision>
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</link>
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<joint name="head_pitch_joint" type="revolute">
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<parent link="pole_link"/>
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<child link="lamp_head_link"/>
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<origin xyz="0 0 0.24" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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<limit lower="-1.2" upper="0.6" effort="2.0" velocity="2.0"/>
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<dynamics damping="0.2" friction="0.05"/>
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</joint>
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</robot>
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objects/015_lamp/10125/model_data.json
ADDED
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@@ -0,0 +1,40 @@
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{
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"scale": 1.0,
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"transform_matrix": [
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[
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1.0,
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0.0,
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0.0,
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0.0
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],
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[
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0.0,
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1.0,
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0.0,
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0.0
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],
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[
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0.0,
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0.0,
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1.0,
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| 20 |
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0.0
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],
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[
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0.0,
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0.0,
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0.0,
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1.0
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]
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],
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"init_qpos": [],
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| 30 |
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"target_points": [],
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"contact_points": [],
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"functional_points": [],
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"orientation_point": [],
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"contact_points_group": [],
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"contact_points_mask": [],
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"target_points_description": [],
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"contact_points_description": [],
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| 38 |
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"functional_points_description": [],
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| 39 |
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"orientation_point_description": []
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}
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