Wensi (Vince) Ai commited on
Commit ·
ee9b8a9
1
Parent(s): d5dacff
Update A1 with curobo and usda
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- models/a1/a1_inspire_eef.usd +0 -3
- models/a1/curobo/a1_description_curobo_default.yaml +262 -0
- models/a1/misc/metadata.json +1 -0
- models/a1/urdf/a1.urdf +467 -0
- models/a1/urdf/a1_original.urdf +257 -0
- models/a1/urdf/a1_original_mirror.urdf +467 -0
- models/a1/urdf/a1_with_metalinks.urdf +467 -0
- models/a1/{a1_gripper.usd → urdf/meshes/arm_seg1.STL} +2 -2
- models/a1/{a1_inspire.usd → urdf/meshes/arm_seg2.STL} +2 -2
- models/a1/urdf/meshes/arm_seg3.STL +3 -0
- models/a1/urdf/meshes/arm_seg4.STL +3 -0
- models/a1/urdf/meshes/arm_seg5.STL +3 -0
- models/a1/urdf/meshes/arm_seg6.STL +3 -0
- models/a1/urdf/meshes/base_link.STL +3 -0
- models/a1/{.thumbs/256x256/a1_gripper.usd.png → urdf/meshes/collision/arm_seg1-col-0.obj} +2 -2
- models/a1/{.thumbs/256x256/a1_inspire.usd.png → urdf/meshes/collision/arm_seg2-col-0.obj} +2 -2
- models/a1/urdf/meshes/collision/arm_seg2-col-1.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg2-col-2.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg2-col-3.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg2-col-4.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg2-col-5.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg2-col-6.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg2-col-7.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg3-col-0.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg3-col-1.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg3-col-2.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg3-col-3.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg3-col-4.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg3-col-5.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg3-col-6.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg3-col-7.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg4-col-0.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg5-col-0.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg5-col-1.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg5-col-2.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg5-col-3.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg5-col-4.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg5-col-5.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg5-col-6.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg5-col-7.obj +3 -0
- models/a1/urdf/meshes/collision/arm_seg6-col-0.obj +3 -0
- models/a1/urdf/meshes/collision/base_link-col-0.obj +3 -0
- models/a1/urdf/meshes/collision/gripper1-col-0.obj +3 -0
- models/a1/urdf/meshes/collision/gripper1-col-1.obj +3 -0
- models/a1/urdf/meshes/collision/gripper1-col-2.obj +3 -0
- models/a1/urdf/meshes/collision/gripper1-col-3.obj +3 -0
- models/a1/urdf/meshes/collision/gripper1-col-4.obj +3 -0
- models/a1/urdf/meshes/collision/gripper1-col-5.obj +3 -0
- models/a1/urdf/meshes/collision/gripper1-col-6.obj +3 -0
- models/a1/urdf/meshes/collision/gripper1-col-7.obj +3 -0
models/a1/a1_inspire_eef.usd
DELETED
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@@ -1,3 +0,0 @@
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| 1 |
-
version https://git-lfs.github.com/spec/v1
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| 2 |
-
oid sha256:a5bcdcf91ea28380dba3f5e5385f430052f9756cf4c391e1abf8c9aee875a7f6
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| 3 |
-
size 12847052
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models/a1/curobo/a1_description_curobo_default.yaml
ADDED
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@@ -0,0 +1,262 @@
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| 1 |
+
robot_cfg:
|
| 2 |
+
kinematics:
|
| 3 |
+
base_link: base_link
|
| 4 |
+
collision_link_names:
|
| 5 |
+
- base_link
|
| 6 |
+
- arm_seg1
|
| 7 |
+
- arm_seg2
|
| 8 |
+
- arm_seg3
|
| 9 |
+
- arm_seg4
|
| 10 |
+
- arm_seg5
|
| 11 |
+
- arm_seg6
|
| 12 |
+
- gripper1
|
| 13 |
+
- gripper2
|
| 14 |
+
- attached_object_eef_link
|
| 15 |
+
collision_sphere_buffer: 0.002
|
| 16 |
+
collision_spheres:
|
| 17 |
+
arm_seg1:
|
| 18 |
+
- center:
|
| 19 |
+
- 0.0
|
| 20 |
+
- 0.0
|
| 21 |
+
- 0.06
|
| 22 |
+
radius: 0.056
|
| 23 |
+
arm_seg2:
|
| 24 |
+
- center:
|
| 25 |
+
- 0.05
|
| 26 |
+
- 0.013
|
| 27 |
+
- 0
|
| 28 |
+
radius: 0.05
|
| 29 |
+
- center:
|
| 30 |
+
- 0.11
|
| 31 |
+
- 0.019
|
| 32 |
+
- 0
|
| 33 |
+
radius: 0.044
|
| 34 |
+
- center:
|
| 35 |
+
- 0.17
|
| 36 |
+
- 0.019
|
| 37 |
+
- 0
|
| 38 |
+
radius: 0.044
|
| 39 |
+
- center:
|
| 40 |
+
- 0.23
|
| 41 |
+
- 0.02
|
| 42 |
+
- 0
|
| 43 |
+
radius: 0.044
|
| 44 |
+
- center:
|
| 45 |
+
- 0.29
|
| 46 |
+
- 0.02
|
| 47 |
+
- 0
|
| 48 |
+
radius: 0.044
|
| 49 |
+
- center:
|
| 50 |
+
- 0.35
|
| 51 |
+
- 0.023
|
| 52 |
+
- 0
|
| 53 |
+
radius: 0.046
|
| 54 |
+
arm_seg3:
|
| 55 |
+
- center:
|
| 56 |
+
- 0.058
|
| 57 |
+
- 0.037
|
| 58 |
+
- 0
|
| 59 |
+
radius: 0.048
|
| 60 |
+
- center:
|
| 61 |
+
- 0.08
|
| 62 |
+
- 0.095
|
| 63 |
+
- 0
|
| 64 |
+
radius: 0.03
|
| 65 |
+
- center:
|
| 66 |
+
- 0.08
|
| 67 |
+
- 0.135
|
| 68 |
+
- 0
|
| 69 |
+
radius: 0.03
|
| 70 |
+
- center:
|
| 71 |
+
- 0.08
|
| 72 |
+
- 0.176
|
| 73 |
+
- 0
|
| 74 |
+
radius: 0.03
|
| 75 |
+
- center:
|
| 76 |
+
- 0.077
|
| 77 |
+
- 0.22
|
| 78 |
+
- 0
|
| 79 |
+
radius: 0.03
|
| 80 |
+
arm_seg4:
|
| 81 |
+
- center:
|
| 82 |
+
- 0.0
|
| 83 |
+
- 0.0
|
| 84 |
+
- 0.272
|
| 85 |
+
radius: 0.04
|
| 86 |
+
arm_seg5:
|
| 87 |
+
- center:
|
| 88 |
+
- 0.001
|
| 89 |
+
- -0.059
|
| 90 |
+
- 0.0
|
| 91 |
+
radius: 0.035
|
| 92 |
+
arm_seg6:
|
| 93 |
+
- center:
|
| 94 |
+
- 0.0
|
| 95 |
+
- 0.0
|
| 96 |
+
- -0.025
|
| 97 |
+
radius: 0.033
|
| 98 |
+
- center:
|
| 99 |
+
- 0.0
|
| 100 |
+
- 0.0
|
| 101 |
+
- -0.055
|
| 102 |
+
radius: 0.033
|
| 103 |
+
base_link:
|
| 104 |
+
- center:
|
| 105 |
+
- 0.0
|
| 106 |
+
- 0.0
|
| 107 |
+
- 0.04
|
| 108 |
+
radius: 0.065
|
| 109 |
+
gripper1:
|
| 110 |
+
- center:
|
| 111 |
+
- 0.008
|
| 112 |
+
- -0.022
|
| 113 |
+
- 0.019
|
| 114 |
+
radius: 0.008
|
| 115 |
+
- center:
|
| 116 |
+
- 0.008
|
| 117 |
+
- -0.006
|
| 118 |
+
- 0.019
|
| 119 |
+
radius: 0.008
|
| 120 |
+
- center:
|
| 121 |
+
- 0.024
|
| 122 |
+
- -0.022
|
| 123 |
+
- 0.019
|
| 124 |
+
radius: 0.008
|
| 125 |
+
- center:
|
| 126 |
+
- 0.024
|
| 127 |
+
- -0.006
|
| 128 |
+
- 0.019
|
| 129 |
+
radius: 0.008
|
| 130 |
+
- center:
|
| 131 |
+
- 0.04
|
| 132 |
+
- -0.014
|
| 133 |
+
- 0.017
|
| 134 |
+
radius: 0.007
|
| 135 |
+
- center:
|
| 136 |
+
- 0.055
|
| 137 |
+
- -0.014
|
| 138 |
+
- 0.015
|
| 139 |
+
radius: 0.005
|
| 140 |
+
gripper2:
|
| 141 |
+
- center:
|
| 142 |
+
- 0.008
|
| 143 |
+
- -0.022
|
| 144 |
+
- 0.019
|
| 145 |
+
radius: 0.008
|
| 146 |
+
- center:
|
| 147 |
+
- 0.008
|
| 148 |
+
- -0.006
|
| 149 |
+
- 0.019
|
| 150 |
+
radius: 0.008
|
| 151 |
+
- center:
|
| 152 |
+
- 0.024
|
| 153 |
+
- -0.022
|
| 154 |
+
- 0.019
|
| 155 |
+
radius: 0.008
|
| 156 |
+
- center:
|
| 157 |
+
- 0.024
|
| 158 |
+
- -0.006
|
| 159 |
+
- 0.019
|
| 160 |
+
radius: 0.008
|
| 161 |
+
- center:
|
| 162 |
+
- 0.04
|
| 163 |
+
- -0.014
|
| 164 |
+
- 0.017
|
| 165 |
+
radius: 0.007
|
| 166 |
+
- center:
|
| 167 |
+
- 0.055
|
| 168 |
+
- -0.014
|
| 169 |
+
- 0.015
|
| 170 |
+
radius: 0.005
|
| 171 |
+
cspace:
|
| 172 |
+
cspace_distance_weight:
|
| 173 |
+
- 1
|
| 174 |
+
- 1
|
| 175 |
+
- 1
|
| 176 |
+
- 1
|
| 177 |
+
- 1
|
| 178 |
+
- 1
|
| 179 |
+
- 1
|
| 180 |
+
- 1
|
| 181 |
+
joint_names:
|
| 182 |
+
- arm_joint1
|
| 183 |
+
- arm_joint2
|
| 184 |
+
- arm_joint3
|
| 185 |
+
- arm_joint4
|
| 186 |
+
- arm_joint5
|
| 187 |
+
- arm_joint6
|
| 188 |
+
- gripper_joint1
|
| 189 |
+
- gripper_joint2
|
| 190 |
+
max_acceleration: 15.0
|
| 191 |
+
max_jerk: 500.0
|
| 192 |
+
null_space_weight:
|
| 193 |
+
- 1
|
| 194 |
+
- 1
|
| 195 |
+
- 1
|
| 196 |
+
- 1
|
| 197 |
+
- 1
|
| 198 |
+
- 1
|
| 199 |
+
- 1
|
| 200 |
+
- 1
|
| 201 |
+
retract_config:
|
| 202 |
+
- 0.0
|
| 203 |
+
- 0.0
|
| 204 |
+
- 0.0
|
| 205 |
+
- 0.0
|
| 206 |
+
- 0.0
|
| 207 |
+
- 0.0
|
| 208 |
+
- 0.03
|
| 209 |
+
- 0.03
|
| 210 |
+
ee_link: eef_link
|
| 211 |
+
external_asset_path: null
|
| 212 |
+
extra_collision_spheres:
|
| 213 |
+
attached_object_eef_link: 32
|
| 214 |
+
extra_links:
|
| 215 |
+
attached_object_eef_link:
|
| 216 |
+
fixed_transform:
|
| 217 |
+
- 0
|
| 218 |
+
- 0
|
| 219 |
+
- 0
|
| 220 |
+
- 1
|
| 221 |
+
- 0
|
| 222 |
+
- 0
|
| 223 |
+
- 0
|
| 224 |
+
joint_name: attached_object_eef_link_joint
|
| 225 |
+
joint_type: FIXED
|
| 226 |
+
link_name: attached_object_eef_link
|
| 227 |
+
parent_link_name: eef_link
|
| 228 |
+
link_names: []
|
| 229 |
+
lock_joints:
|
| 230 |
+
gripper_joint1: 0.029999999329447746
|
| 231 |
+
gripper_joint2: 0.029999999329447746
|
| 232 |
+
mesh_link_names:
|
| 233 |
+
- base_link
|
| 234 |
+
- arm_seg1
|
| 235 |
+
- arm_seg2
|
| 236 |
+
- arm_seg3
|
| 237 |
+
- arm_seg4
|
| 238 |
+
- arm_seg5
|
| 239 |
+
- arm_seg6
|
| 240 |
+
- gripper1
|
| 241 |
+
- gripper2
|
| 242 |
+
- attached_object_eef_link
|
| 243 |
+
self_collision_buffer:
|
| 244 |
+
base_link: 0.02
|
| 245 |
+
self_collision_ignore:
|
| 246 |
+
gripper1:
|
| 247 |
+
- gripper2
|
| 248 |
+
- attached_object_eef_link
|
| 249 |
+
gripper2:
|
| 250 |
+
- attached_object_eef_link
|
| 251 |
+
usd_flip_joint_limits: []
|
| 252 |
+
usd_flip_joints:
|
| 253 |
+
arm_joint1: Z
|
| 254 |
+
arm_joint2: Z
|
| 255 |
+
arm_joint3: Z
|
| 256 |
+
arm_joint4: Z
|
| 257 |
+
arm_joint5: Z
|
| 258 |
+
arm_joint6: Z
|
| 259 |
+
gripper_joint1: Z
|
| 260 |
+
gripper_joint2: Z
|
| 261 |
+
usd_robot_root: /a1
|
| 262 |
+
use_global_cumul: true
|
models/a1/misc/metadata.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"meta_links": {}, "link_tags": {}, "object_parts": [], "base_link_offset": [-0.11300189276570159, 1.68728850118874e-18, 0.13873272759093327], "bbox_size": [0.5463082041004925, 0.12800437211990356, 0.2774654551818666], "orientations": []}
|
models/a1/urdf/a1.urdf
ADDED
|
@@ -0,0 +1,467 @@
|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="A1">
|
| 3 |
+
<link name="base_link">
|
| 4 |
+
<inertial>
|
| 5 |
+
<origin xyz="-0.00056269 -4.1498E-06 0.038934" rpy="0 0 0" />
|
| 6 |
+
<mass value="1.0" />
|
| 7 |
+
<inertia ixx="0.0010597" ixy="1.6825E-07" ixz="1.9821E-05" iyy="0.0010647" iyz="1.9312E-07" izz="0.0011787" />
|
| 8 |
+
</inertial>
|
| 9 |
+
<visual>
|
| 10 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 11 |
+
<geometry>
|
| 12 |
+
<mesh filename="meshes/base_link.STL" />
|
| 13 |
+
</geometry>
|
| 14 |
+
<material name="">
|
| 15 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 16 |
+
</material>
|
| 17 |
+
</visual>
|
| 18 |
+
<collision name="base_link-col-0">
|
| 19 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 20 |
+
<geometry>
|
| 21 |
+
<mesh filename="meshes/collision/base_link-col-0.obj" scale="0.12481569043295189 0.12969005616046225 0.09232043059117086" />
|
| 22 |
+
</geometry>
|
| 23 |
+
</collision>
|
| 24 |
+
</link>
|
| 25 |
+
<link name="arm_seg1">
|
| 26 |
+
<inertial>
|
| 27 |
+
<origin xyz="-1.4403E-06 -0.00074041 0.056573" rpy="0 0 0" />
|
| 28 |
+
<mass value="1.391" />
|
| 29 |
+
<inertia ixx="0.00058101" ixy="-7.5672E-09" ixz="-2.9207E-08" iyy="0.00070857" iyz="8.5639E-07" izz="0.00044583" />
|
| 30 |
+
</inertial>
|
| 31 |
+
<visual>
|
| 32 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 33 |
+
<geometry>
|
| 34 |
+
<mesh filename="meshes/arm_seg1.STL" />
|
| 35 |
+
</geometry>
|
| 36 |
+
<material name="">
|
| 37 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 38 |
+
</material>
|
| 39 |
+
</visual>
|
| 40 |
+
<collision name="arm_seg1-col-0">
|
| 41 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 42 |
+
<geometry>
|
| 43 |
+
<mesh filename="meshes/collision/arm_seg1-col-0.obj" scale="0.10165239674213898 0.07390611410408843 0.12279872714982236" />
|
| 44 |
+
</geometry>
|
| 45 |
+
</collision>
|
| 46 |
+
</link>
|
| 47 |
+
<joint name="arm_joint1" type="revolute">
|
| 48 |
+
<origin xyz="-0.0011147 0 0.0892" rpy="0 0 3.1416" />
|
| 49 |
+
<parent link="base_link" />
|
| 50 |
+
<child link="arm_seg1" />
|
| 51 |
+
<axis xyz="0 0 1" />
|
| 52 |
+
<limit lower="-2.8798" upper="2.8798" effort="40" velocity="20.944" />
|
| 53 |
+
</joint>
|
| 54 |
+
<link name="arm_seg2">
|
| 55 |
+
<inertial>
|
| 56 |
+
<origin xyz="0.23622 0.016356 9.154E-05" rpy="0 0 0" />
|
| 57 |
+
<mass value="1.3" />
|
| 58 |
+
<inertia ixx="0.00060643" ixy="-0.00041827" ixz="0.00014951" iyy="0.0075939" iyz="8.093E-06" izz="0.0075715" />
|
| 59 |
+
</inertial>
|
| 60 |
+
<visual>
|
| 61 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 62 |
+
<geometry>
|
| 63 |
+
<mesh filename="meshes/arm_seg2.STL" />
|
| 64 |
+
</geometry>
|
| 65 |
+
<material name="">
|
| 66 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 67 |
+
</material>
|
| 68 |
+
</visual>
|
| 69 |
+
<collision name="arm_seg2-col-0">
|
| 70 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 71 |
+
<geometry>
|
| 72 |
+
<mesh filename="meshes/collision/arm_seg2-col-0.obj" scale="0.3004354404616324 0.021244005085542916 0.09413088890852007" />
|
| 73 |
+
</geometry>
|
| 74 |
+
</collision>
|
| 75 |
+
<collision name="arm_seg2-col-1">
|
| 76 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 77 |
+
<geometry>
|
| 78 |
+
<mesh filename="meshes/collision/arm_seg2-col-1.obj" scale="0.0807276027249112 0.07952538973874154 0.07596196844432648" />
|
| 79 |
+
</geometry>
|
| 80 |
+
</collision>
|
| 81 |
+
<collision name="arm_seg2-col-2">
|
| 82 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 83 |
+
<geometry>
|
| 84 |
+
<mesh filename="meshes/collision/arm_seg2-col-2.obj" scale="0.08521860397948056 0.0524943444554303 0.051218245679555414" />
|
| 85 |
+
</geometry>
|
| 86 |
+
</collision>
|
| 87 |
+
<collision name="arm_seg2-col-3">
|
| 88 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 89 |
+
<geometry>
|
| 90 |
+
<mesh filename="meshes/collision/arm_seg2-col-3.obj" scale="0.2059680379153317 0.056823638542495836 0.029886320624713525" />
|
| 91 |
+
</geometry>
|
| 92 |
+
</collision>
|
| 93 |
+
<collision name="arm_seg2-col-4">
|
| 94 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 95 |
+
<geometry>
|
| 96 |
+
<mesh filename="meshes/collision/arm_seg2-col-4.obj" scale="0.2060174963620424 0.0721189491597524 0.03191659589936818" />
|
| 97 |
+
</geometry>
|
| 98 |
+
</collision>
|
| 99 |
+
<collision name="arm_seg2-col-5">
|
| 100 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 101 |
+
<geometry>
|
| 102 |
+
<mesh filename="meshes/collision/arm_seg2-col-5.obj" scale="0.15237697031665343 0.08657724827273147 0.022796732553987245" />
|
| 103 |
+
</geometry>
|
| 104 |
+
</collision>
|
| 105 |
+
<collision name="arm_seg2-col-6">
|
| 106 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 107 |
+
<geometry>
|
| 108 |
+
<mesh filename="meshes/collision/arm_seg2-col-6.obj" scale="0.20596672513099046 0.018019602846256755 0.047132096622410524" />
|
| 109 |
+
</geometry>
|
| 110 |
+
</collision>
|
| 111 |
+
<collision name="arm_seg2-col-7">
|
| 112 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 113 |
+
<geometry>
|
| 114 |
+
<mesh filename="meshes/collision/arm_seg2-col-7.obj" scale="0.1556674334462846 0.08646203829977436 0.021986502522974363" />
|
| 115 |
+
</geometry>
|
| 116 |
+
</collision>
|
| 117 |
+
</link>
|
| 118 |
+
<joint name="arm_joint2" type="revolute">
|
| 119 |
+
<origin xyz="0 -4E-05 0.0615" rpy="1.5708 0 0" />
|
| 120 |
+
<parent link="arm_seg1" />
|
| 121 |
+
<child link="arm_seg2" />
|
| 122 |
+
<axis xyz="0 0 1" />
|
| 123 |
+
<limit lower="0" upper="3.1415" effort="40" velocity="20.944" />
|
| 124 |
+
</joint>
|
| 125 |
+
<link name="arm_seg3">
|
| 126 |
+
<inertial>
|
| 127 |
+
<origin xyz="0.054443 0.045347 0.00042807" rpy="0 0 0" />
|
| 128 |
+
<mass value="0.818" />
|
| 129 |
+
<inertia ixx="0.0013904" ixy="-0.00022559" ixz="9.6874E-06" iyy="0.00059564" iyz="7.1658E-06" izz="0.0014962" />
|
| 130 |
+
</inertial>
|
| 131 |
+
<visual>
|
| 132 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 133 |
+
<geometry>
|
| 134 |
+
<mesh filename="meshes/arm_seg3.STL" />
|
| 135 |
+
</geometry>
|
| 136 |
+
<material name="">
|
| 137 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 138 |
+
</material>
|
| 139 |
+
</visual>
|
| 140 |
+
<collision name="arm_seg3-col-0">
|
| 141 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 142 |
+
<geometry>
|
| 143 |
+
<mesh filename="meshes/collision/arm_seg3-col-0.obj" scale="0.024752913502609653 0.1073870120670958 0.07243258966329646" />
|
| 144 |
+
</geometry>
|
| 145 |
+
</collision>
|
| 146 |
+
<collision name="arm_seg3-col-1">
|
| 147 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 148 |
+
<geometry>
|
| 149 |
+
<mesh filename="meshes/collision/arm_seg3-col-1.obj" scale="0.1398897315500028 0.12713621158632568 0.032608104599865906" />
|
| 150 |
+
</geometry>
|
| 151 |
+
</collision>
|
| 152 |
+
<collision name="arm_seg3-col-2">
|
| 153 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 154 |
+
<geometry>
|
| 155 |
+
<mesh filename="meshes/collision/arm_seg3-col-2.obj" scale="0.04005897057046992 0.24885975722355858 0.07051493368469411" />
|
| 156 |
+
</geometry>
|
| 157 |
+
</collision>
|
| 158 |
+
<collision name="arm_seg3-col-3">
|
| 159 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 160 |
+
<geometry>
|
| 161 |
+
<mesh filename="meshes/collision/arm_seg3-col-3.obj" scale="0.0662857326727257 0.09987169769629387 0.025165333823699728" />
|
| 162 |
+
</geometry>
|
| 163 |
+
</collision>
|
| 164 |
+
<collision name="arm_seg3-col-4">
|
| 165 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 166 |
+
<geometry>
|
| 167 |
+
<mesh filename="meshes/collision/arm_seg3-col-4.obj" scale="0.022390017791689767 0.21383768067053355 0.07871569830458006" />
|
| 168 |
+
</geometry>
|
| 169 |
+
</collision>
|
| 170 |
+
<collision name="arm_seg3-col-5">
|
| 171 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 172 |
+
<geometry>
|
| 173 |
+
<mesh filename="meshes/collision/arm_seg3-col-5.obj" scale="0.01845288002255191 0.08528881240121884 0.061723092292414725" />
|
| 174 |
+
</geometry>
|
| 175 |
+
</collision>
|
| 176 |
+
<collision name="arm_seg3-col-6">
|
| 177 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 178 |
+
<geometry>
|
| 179 |
+
<mesh filename="meshes/collision/arm_seg3-col-6.obj" scale="0.0371096259293012 0.04028608040115844 0.06829882669052546" />
|
| 180 |
+
</geometry>
|
| 181 |
+
</collision>
|
| 182 |
+
<collision name="arm_seg3-col-7">
|
| 183 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 184 |
+
<geometry>
|
| 185 |
+
<mesh filename="meshes/collision/arm_seg3-col-7.obj" scale="0.023713800794519624 0.15126554649412455 0.02053324537916125" />
|
| 186 |
+
</geometry>
|
| 187 |
+
</collision>
|
| 188 |
+
</link>
|
| 189 |
+
<joint name="arm_joint3" type="revolute">
|
| 190 |
+
<origin xyz="0.34928 0.02 0" rpy="0 0 1.5708" />
|
| 191 |
+
<parent link="arm_seg2" />
|
| 192 |
+
<child link="arm_seg3" />
|
| 193 |
+
<axis xyz="0 0 1" />
|
| 194 |
+
<limit lower="-3.3161" upper="0" effort="27" velocity="7.5398" />
|
| 195 |
+
</joint>
|
| 196 |
+
<link name="arm_seg4">
|
| 197 |
+
<inertial>
|
| 198 |
+
<origin xyz="7.6256E-07 -0.0021448 0.27415" rpy="0 0 0" />
|
| 199 |
+
<mass value="0.816" />
|
| 200 |
+
<inertia ixx="9.7042E-05" ixy="-5.177E-09" ixz="-2.2681E-09" iyy="0.00010174" iyz="8.2528E-07" izz="8.4501E-05" />
|
| 201 |
+
</inertial>
|
| 202 |
+
<visual>
|
| 203 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 204 |
+
<geometry>
|
| 205 |
+
<mesh filename="meshes/arm_seg4.STL" />
|
| 206 |
+
</geometry>
|
| 207 |
+
<material name="">
|
| 208 |
+
<color rgba="1 1 1 1" />
|
| 209 |
+
</material>
|
| 210 |
+
</visual>
|
| 211 |
+
<collision name="arm_seg4-col-0">
|
| 212 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 213 |
+
<geometry>
|
| 214 |
+
<mesh filename="meshes/collision/arm_seg4-col-0.obj" scale="0.06332391699081943 0.06473724103154198 0.06943311482781456" />
|
| 215 |
+
</geometry>
|
| 216 |
+
</collision>
|
| 217 |
+
</link>
|
| 218 |
+
<joint name="arm_joint4" type="revolute">
|
| 219 |
+
<origin xyz="0.07 -0.00395 -4E-05" rpy="-1.5708 1.5708 0" />
|
| 220 |
+
<parent link="arm_seg3" />
|
| 221 |
+
<child link="arm_seg4" />
|
| 222 |
+
<axis xyz="0 0 1" />
|
| 223 |
+
<limit lower="-2.8798" upper="2.8798" effort="7" velocity="25.133" />
|
| 224 |
+
</joint>
|
| 225 |
+
<link name="arm_seg5">
|
| 226 |
+
<inertial>
|
| 227 |
+
<origin xyz="-3.9997E-06 -0.05431 0.0034482" rpy="0 0 0" />
|
| 228 |
+
<mass value="0.801" />
|
| 229 |
+
<inertia ixx="0.00011332" ixy="7.432E-08" ixz="1.368E-08" iyy="8.3999E-05" iyz="-1.6234E-05" izz="9.8497E-05" />
|
| 230 |
+
</inertial>
|
| 231 |
+
<visual>
|
| 232 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 233 |
+
<geometry>
|
| 234 |
+
<mesh filename="meshes/arm_seg5.STL" />
|
| 235 |
+
</geometry>
|
| 236 |
+
<material name="">
|
| 237 |
+
<color rgba="1 1 1 1" />
|
| 238 |
+
</material>
|
| 239 |
+
</visual>
|
| 240 |
+
<collision name="arm_seg5-col-0">
|
| 241 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 242 |
+
<geometry>
|
| 243 |
+
<mesh filename="meshes/collision/arm_seg5-col-0.obj" scale="0.03267031899692348 0.05341618172776004 0.062067744942003664" />
|
| 244 |
+
</geometry>
|
| 245 |
+
</collision>
|
| 246 |
+
<collision name="arm_seg5-col-1">
|
| 247 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 248 |
+
<geometry>
|
| 249 |
+
<mesh filename="meshes/collision/arm_seg5-col-1.obj" scale="0.03108759582949762 0.05339162286567458 0.06013489541000714" />
|
| 250 |
+
</geometry>
|
| 251 |
+
</collision>
|
| 252 |
+
<collision name="arm_seg5-col-2">
|
| 253 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 254 |
+
<geometry>
|
| 255 |
+
<mesh filename="meshes/collision/arm_seg5-col-2.obj" scale="0.026463030090208256 0.05398080941709572 0.009442623231534872" />
|
| 256 |
+
</geometry>
|
| 257 |
+
</collision>
|
| 258 |
+
<collision name="arm_seg5-col-3">
|
| 259 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 260 |
+
<geometry>
|
| 261 |
+
<mesh filename="meshes/collision/arm_seg5-col-3.obj" scale="0.020451442789586823 0.020383818415420828 0.006348428104902714" />
|
| 262 |
+
</geometry>
|
| 263 |
+
</collision>
|
| 264 |
+
<collision name="arm_seg5-col-4">
|
| 265 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 266 |
+
<geometry>
|
| 267 |
+
<mesh filename="meshes/collision/arm_seg5-col-4.obj" scale="0.022935577704323466 0.05683231630476869 0.007030813027039659" />
|
| 268 |
+
</geometry>
|
| 269 |
+
</collision>
|
| 270 |
+
<collision name="arm_seg5-col-5">
|
| 271 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 272 |
+
<geometry>
|
| 273 |
+
<mesh filename="meshes/collision/arm_seg5-col-5.obj" scale="0.01401682873121526 0.1028933771255301 0.007057142614264794" />
|
| 274 |
+
</geometry>
|
| 275 |
+
</collision>
|
| 276 |
+
<collision name="arm_seg5-col-6">
|
| 277 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 278 |
+
<geometry>
|
| 279 |
+
<mesh filename="meshes/collision/arm_seg5-col-6.obj" scale="0.037028476344048794 0.01933930051346722 0.006349210197470062" />
|
| 280 |
+
</geometry>
|
| 281 |
+
</collision>
|
| 282 |
+
<collision name="arm_seg5-col-7">
|
| 283 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 284 |
+
<geometry>
|
| 285 |
+
<mesh filename="meshes/collision/arm_seg5-col-7.obj" scale="0.016509072060545634 0.024077259503684494 0.006349299305686895" />
|
| 286 |
+
</geometry>
|
| 287 |
+
</collision>
|
| 288 |
+
</link>
|
| 289 |
+
<joint name="arm_joint5" type="revolute">
|
| 290 |
+
<origin xyz="0 0 0.2776" rpy="-1.5708 0 3.1416" />
|
| 291 |
+
<parent link="arm_seg4" />
|
| 292 |
+
<child link="arm_seg5" />
|
| 293 |
+
<axis xyz="0 0 1" />
|
| 294 |
+
<limit lower="-1.6581" upper="1.6581" effort="7" velocity="25.133" />
|
| 295 |
+
</joint>
|
| 296 |
+
<link name="arm_seg6">
|
| 297 |
+
<inertial>
|
| 298 |
+
<origin xyz="2.406E-06 -9.4582E-08 -0.038796" rpy="0 0 0" />
|
| 299 |
+
<mass value="0.465" />
|
| 300 |
+
<inertia ixx="0.00011445" ixy="3.336E-10" ixz="1.4799E-08" iyy="0.00011239" iyz="-6.1057E-10" izz="7.4519E-05" />
|
| 301 |
+
</inertial>
|
| 302 |
+
<visual>
|
| 303 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 304 |
+
<geometry>
|
| 305 |
+
<mesh filename="meshes/arm_seg6.STL" />
|
| 306 |
+
</geometry>
|
| 307 |
+
<material name="">
|
| 308 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 309 |
+
</material>
|
| 310 |
+
</visual>
|
| 311 |
+
<collision name="arm_seg6-col-0">
|
| 312 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 313 |
+
<geometry>
|
| 314 |
+
<mesh filename="meshes/collision/arm_seg6-col-0.obj" scale="0.06175654977038431 0.060122202752699486 0.07610860215749395" />
|
| 315 |
+
</geometry>
|
| 316 |
+
</collision>
|
| 317 |
+
</link>
|
| 318 |
+
<joint name="arm_joint6" type="revolute">
|
| 319 |
+
<origin xyz="0 -0.1575 -0.00023266" rpy="1.5708 0 0" />
|
| 320 |
+
<parent link="arm_seg5" />
|
| 321 |
+
<child link="arm_seg6" />
|
| 322 |
+
<axis xyz="0 0 1" />
|
| 323 |
+
<limit lower="-2.8798" upper="2.8798" effort="7" velocity="25.133" />
|
| 324 |
+
</joint>
|
| 325 |
+
<link name="gripper1">
|
| 326 |
+
<inertial>
|
| 327 |
+
<origin xyz="0.022575 -0.01276 0.015787" rpy="0 0 0" />
|
| 328 |
+
<mass value="0.057" />
|
| 329 |
+
<inertia ixx="1.7676E-06" ixy="8.2594E-08" ixz="2.5995E-07" iyy="4.7258E-06" iyz="1.2291E-07" izz="5.2672E-06" />
|
| 330 |
+
</inertial>
|
| 331 |
+
<visual>
|
| 332 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 333 |
+
<geometry>
|
| 334 |
+
<mesh filename="meshes/gripper1.STL" />
|
| 335 |
+
</geometry>
|
| 336 |
+
<material name="">
|
| 337 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 338 |
+
</material>
|
| 339 |
+
</visual>
|
| 340 |
+
<collision name="gripper1-col-0">
|
| 341 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 342 |
+
<geometry>
|
| 343 |
+
<mesh filename="meshes/collision/gripper1-col-0.obj" scale="0.01607684638007697 0.011416310309406166 0.024613410159352603" />
|
| 344 |
+
</geometry>
|
| 345 |
+
</collision>
|
| 346 |
+
<collision name="gripper1-col-1">
|
| 347 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 348 |
+
<geometry>
|
| 349 |
+
<mesh filename="meshes/collision/gripper1-col-1.obj" scale="0.0054672983862862345 0.005164126333300101 0.000809456443007936" />
|
| 350 |
+
</geometry>
|
| 351 |
+
</collision>
|
| 352 |
+
<collision name="gripper1-col-2">
|
| 353 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 354 |
+
<geometry>
|
| 355 |
+
<mesh filename="meshes/collision/gripper1-col-2.obj" scale="0.01111089540647977 0.022055921798174005 0.007231445118359579" />
|
| 356 |
+
</geometry>
|
| 357 |
+
</collision>
|
| 358 |
+
<collision name="gripper1-col-3">
|
| 359 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 360 |
+
<geometry>
|
| 361 |
+
<mesh filename="meshes/collision/gripper1-col-3.obj" scale="0.06541727321698343 0.007334828226021266 0.005011991882233339" />
|
| 362 |
+
</geometry>
|
| 363 |
+
</collision>
|
| 364 |
+
<collision name="gripper1-col-4">
|
| 365 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 366 |
+
<geometry>
|
| 367 |
+
<mesh filename="meshes/collision/gripper1-col-4.obj" scale="0.06930530628406517 0.03158874650764183 0.010722508849302072" />
|
| 368 |
+
</geometry>
|
| 369 |
+
</collision>
|
| 370 |
+
<collision name="gripper1-col-5">
|
| 371 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 372 |
+
<geometry>
|
| 373 |
+
<mesh filename="meshes/collision/gripper1-col-5.obj" scale="0.06622688366531121 0.012189614774233866 0.005011629134048998" />
|
| 374 |
+
</geometry>
|
| 375 |
+
</collision>
|
| 376 |
+
<collision name="gripper1-col-6">
|
| 377 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 378 |
+
<geometry>
|
| 379 |
+
<mesh filename="meshes/collision/gripper1-col-6.obj" scale="0.06661600331332274 0.012051860908168175 0.005012016266029193" />
|
| 380 |
+
</geometry>
|
| 381 |
+
</collision>
|
| 382 |
+
<collision name="gripper1-col-7">
|
| 383 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 384 |
+
<geometry>
|
| 385 |
+
<mesh filename="meshes/collision/gripper1-col-7.obj" scale="0.005030825383322224 0.007334827418441382 0.005011991226673701" />
|
| 386 |
+
</geometry>
|
| 387 |
+
</collision>
|
| 388 |
+
</link>
|
| 389 |
+
<joint name="gripper_joint1" type="prismatic">
|
| 390 |
+
<origin xyz="0.014 -0.011914 0.003125" rpy="1.5708 -1.5708 3.1415" />
|
| 391 |
+
<parent link="arm_seg6" />
|
| 392 |
+
<child link="gripper1" />
|
| 393 |
+
<axis xyz="0 0 1" />
|
| 394 |
+
<limit lower="0" upper="0.03" effort="200" velocity="0.25" />
|
| 395 |
+
</joint>
|
| 396 |
+
<link name="gripper2">
|
| 397 |
+
<inertial>
|
| 398 |
+
<origin xyz="0.022575 -0.01276 0.015787" rpy="0 0 0" />
|
| 399 |
+
<mass value="0.057" />
|
| 400 |
+
<inertia ixx="1.7676E-06" ixy="8.2594E-08" ixz="2.5995E-07" iyy="4.7258E-06" iyz="1.2291E-07" izz="5.2672E-06" />
|
| 401 |
+
</inertial>
|
| 402 |
+
<visual>
|
| 403 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 404 |
+
<geometry>
|
| 405 |
+
<mesh filename="meshes/gripper2.STL" />
|
| 406 |
+
</geometry>
|
| 407 |
+
<material name="">
|
| 408 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 409 |
+
</material>
|
| 410 |
+
</visual>
|
| 411 |
+
<collision name="gripper2-col-0">
|
| 412 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 413 |
+
<geometry>
|
| 414 |
+
<mesh filename="meshes/collision/gripper2-col-0.obj" scale="0.01607684638007697 0.011416310309406166 0.024613410159352603" />
|
| 415 |
+
</geometry>
|
| 416 |
+
</collision>
|
| 417 |
+
<collision name="gripper2-col-1">
|
| 418 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 419 |
+
<geometry>
|
| 420 |
+
<mesh filename="meshes/collision/gripper2-col-1.obj" scale="0.0054672983862862345 0.005164126333300101 0.000809456443007936" />
|
| 421 |
+
</geometry>
|
| 422 |
+
</collision>
|
| 423 |
+
<collision name="gripper2-col-2">
|
| 424 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 425 |
+
<geometry>
|
| 426 |
+
<mesh filename="meshes/collision/gripper2-col-2.obj" scale="0.01111089540647977 0.022055921798174005 0.007231445118359579" />
|
| 427 |
+
</geometry>
|
| 428 |
+
</collision>
|
| 429 |
+
<collision name="gripper2-col-3">
|
| 430 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 431 |
+
<geometry>
|
| 432 |
+
<mesh filename="meshes/collision/gripper2-col-3.obj" scale="0.06541727321698343 0.007334828226021266 0.005011991882233339" />
|
| 433 |
+
</geometry>
|
| 434 |
+
</collision>
|
| 435 |
+
<collision name="gripper2-col-4">
|
| 436 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 437 |
+
<geometry>
|
| 438 |
+
<mesh filename="meshes/collision/gripper2-col-4.obj" scale="0.06942052158411795 0.03159276895643274 0.010702954246126752" />
|
| 439 |
+
</geometry>
|
| 440 |
+
</collision>
|
| 441 |
+
<collision name="gripper2-col-5">
|
| 442 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 443 |
+
<geometry>
|
| 444 |
+
<mesh filename="meshes/collision/gripper2-col-5.obj" scale="0.06622688366531121 0.012189614774233866 0.005011629134048998" />
|
| 445 |
+
</geometry>
|
| 446 |
+
</collision>
|
| 447 |
+
<collision name="gripper2-col-6">
|
| 448 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 449 |
+
<geometry>
|
| 450 |
+
<mesh filename="meshes/collision/gripper2-col-6.obj" scale="0.005030825383322224 0.007334827418441382 0.005011991226673701" />
|
| 451 |
+
</geometry>
|
| 452 |
+
</collision>
|
| 453 |
+
<collision name="gripper2-col-7">
|
| 454 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 455 |
+
<geometry>
|
| 456 |
+
<mesh filename="meshes/collision/gripper2-col-7.obj" scale="0.06661600331332274 0.012051860908168175 0.005012016266029193" />
|
| 457 |
+
</geometry>
|
| 458 |
+
</collision>
|
| 459 |
+
</link>
|
| 460 |
+
<joint name="gripper_joint2" type="prismatic">
|
| 461 |
+
<origin xyz="-0.014 0.011914 0.003125" rpy="-1.5708 -1.5708 3.1415" />
|
| 462 |
+
<parent link="arm_seg6" />
|
| 463 |
+
<child link="gripper2" />
|
| 464 |
+
<axis xyz="0 0 1" />
|
| 465 |
+
<limit lower="0" upper="0.03" effort="200" velocity="0.25" />
|
| 466 |
+
</joint>
|
| 467 |
+
</robot>
|
models/a1/urdf/a1_original.urdf
ADDED
|
@@ -0,0 +1,257 @@
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="A1">
|
| 3 |
+
<link name="base_link">
|
| 4 |
+
<inertial>
|
| 5 |
+
<origin xyz="-0.00056269 -4.1498E-06 0.038934" rpy="0 0 0" />
|
| 6 |
+
<mass value="1.0" />
|
| 7 |
+
<inertia ixx="0.0010597" ixy="1.6825E-07" ixz="1.9821E-05" iyy="0.0010647" iyz="1.9312E-07" izz="0.0011787" />
|
| 8 |
+
</inertial>
|
| 9 |
+
<visual>
|
| 10 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 11 |
+
<geometry>
|
| 12 |
+
<mesh filename="meshes/base_link.STL" />
|
| 13 |
+
</geometry>
|
| 14 |
+
<material name="">
|
| 15 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 16 |
+
</material>
|
| 17 |
+
</visual>
|
| 18 |
+
<collision>
|
| 19 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 20 |
+
<geometry>
|
| 21 |
+
<mesh filename="meshes/base_link.STL" />
|
| 22 |
+
</geometry>
|
| 23 |
+
</collision>
|
| 24 |
+
</link>
|
| 25 |
+
<link name="arm_seg1">
|
| 26 |
+
<inertial>
|
| 27 |
+
<origin xyz="-1.4403E-06 -0.00074041 0.056573" rpy="0 0 0" />
|
| 28 |
+
<mass value="1.391" />
|
| 29 |
+
<inertia ixx="0.00058101" ixy="-7.5672E-09" ixz="-2.9207E-08" iyy="0.00070857" iyz="8.5639E-07" izz="0.00044583" />
|
| 30 |
+
</inertial>
|
| 31 |
+
<visual>
|
| 32 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 33 |
+
<geometry>
|
| 34 |
+
<mesh filename="meshes/arm_seg1.STL" />
|
| 35 |
+
</geometry>
|
| 36 |
+
<material name="">
|
| 37 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 38 |
+
</material>
|
| 39 |
+
</visual>
|
| 40 |
+
<collision>
|
| 41 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 42 |
+
<geometry>
|
| 43 |
+
<mesh filename="meshes/arm_seg1.STL" />
|
| 44 |
+
</geometry>
|
| 45 |
+
</collision>
|
| 46 |
+
</link>
|
| 47 |
+
<joint name="arm_joint1" type="revolute">
|
| 48 |
+
<origin xyz="-0.0011147 0 0.0892" rpy="0 0 3.1416" />
|
| 49 |
+
<parent link="base_link" />
|
| 50 |
+
<child link="arm_seg1" />
|
| 51 |
+
<axis xyz="0 0 1" />
|
| 52 |
+
<limit lower="-2.8798" upper="2.8798" effort="40" velocity="20.944" />
|
| 53 |
+
</joint>
|
| 54 |
+
<link name="arm_seg2">
|
| 55 |
+
<inertial>
|
| 56 |
+
<origin xyz="0.23622 0.016356 9.154E-05" rpy="0 0 0" />
|
| 57 |
+
<mass value="1.3" />
|
| 58 |
+
<inertia ixx="0.00060643" ixy="-0.00041827" ixz="0.00014951" iyy="0.0075939" iyz="8.093E-06" izz="0.0075715" />
|
| 59 |
+
</inertial>
|
| 60 |
+
<visual>
|
| 61 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 62 |
+
<geometry>
|
| 63 |
+
<mesh filename="meshes/arm_seg2.STL" />
|
| 64 |
+
</geometry>
|
| 65 |
+
<material name="">
|
| 66 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 67 |
+
</material>
|
| 68 |
+
</visual>
|
| 69 |
+
<collision>
|
| 70 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 71 |
+
<geometry>
|
| 72 |
+
<mesh filename="meshes/arm_seg2.STL" />
|
| 73 |
+
</geometry>
|
| 74 |
+
</collision>
|
| 75 |
+
</link>
|
| 76 |
+
<joint name="arm_joint2" type="revolute">
|
| 77 |
+
<origin xyz="0 -4E-05 0.0615" rpy="1.5708 0 0" />
|
| 78 |
+
<parent link="arm_seg1" />
|
| 79 |
+
<child link="arm_seg2" />
|
| 80 |
+
<axis xyz="0 0 1" />
|
| 81 |
+
<limit lower="0" upper="3.1415" effort="40" velocity="20.944" />
|
| 82 |
+
</joint>
|
| 83 |
+
<link name="arm_seg3">
|
| 84 |
+
<inertial>
|
| 85 |
+
<origin xyz="0.054443 0.045347 0.00042807" rpy="0 0 0" />
|
| 86 |
+
<mass value="0.818" />
|
| 87 |
+
<inertia ixx="0.0013904" ixy="-0.00022559" ixz="9.6874E-06" iyy="0.00059564" iyz="7.1658E-06" izz="0.0014962" />
|
| 88 |
+
</inertial>
|
| 89 |
+
<visual>
|
| 90 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 91 |
+
<geometry>
|
| 92 |
+
<mesh filename="meshes/arm_seg3.STL" />
|
| 93 |
+
</geometry>
|
| 94 |
+
<material name="">
|
| 95 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 96 |
+
</material>
|
| 97 |
+
</visual>
|
| 98 |
+
<collision>
|
| 99 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 100 |
+
<geometry>
|
| 101 |
+
<mesh filename="meshes/arm_seg3.STL" />
|
| 102 |
+
</geometry>
|
| 103 |
+
</collision>
|
| 104 |
+
</link>
|
| 105 |
+
<joint name="arm_joint3" type="revolute">
|
| 106 |
+
<origin xyz="0.34928 0.02 0" rpy="0 0 1.5708" />
|
| 107 |
+
<parent link="arm_seg2" />
|
| 108 |
+
<child link="arm_seg3" />
|
| 109 |
+
<axis xyz="0 0 1" />
|
| 110 |
+
<limit lower="-3.3161" upper="0" effort="27" velocity="7.5398" />
|
| 111 |
+
</joint>
|
| 112 |
+
<link name="arm_seg4">
|
| 113 |
+
<inertial>
|
| 114 |
+
<origin xyz="7.6256E-07 -0.0021448 0.27415" rpy="0 0 0" />
|
| 115 |
+
<mass value="0.816" />
|
| 116 |
+
<inertia ixx="9.7042E-05" ixy="-5.177E-09" ixz="-2.2681E-09" iyy="0.00010174" iyz="8.2528E-07" izz="8.4501E-05" />
|
| 117 |
+
</inertial>
|
| 118 |
+
<visual>
|
| 119 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 120 |
+
<geometry>
|
| 121 |
+
<mesh filename="meshes/arm_seg4.STL" />
|
| 122 |
+
</geometry>
|
| 123 |
+
<material name="">
|
| 124 |
+
<color rgba="1 1 1 1" />
|
| 125 |
+
</material>
|
| 126 |
+
</visual>
|
| 127 |
+
<collision>
|
| 128 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 129 |
+
<geometry>
|
| 130 |
+
<mesh filename="meshes/arm_seg4.STL" />
|
| 131 |
+
</geometry>
|
| 132 |
+
</collision>
|
| 133 |
+
</link>
|
| 134 |
+
<joint name="arm_joint4" type="revolute">
|
| 135 |
+
<origin xyz="0.07 -0.00395 -4E-05" rpy="-1.5708 1.5708 0" />
|
| 136 |
+
<parent link="arm_seg3" />
|
| 137 |
+
<child link="arm_seg4" />
|
| 138 |
+
<axis xyz="0 0 1" />
|
| 139 |
+
<limit lower="-2.8798" upper="2.8798" effort="7" velocity="25.133" />
|
| 140 |
+
</joint>
|
| 141 |
+
<link name="arm_seg5">
|
| 142 |
+
<inertial>
|
| 143 |
+
<origin xyz="-3.9997E-06 -0.05431 0.0034482" rpy="0 0 0" />
|
| 144 |
+
<mass value="0.801" />
|
| 145 |
+
<inertia ixx="0.00011332" ixy="7.432E-08" ixz="1.368E-08" iyy="8.3999E-05" iyz="-1.6234E-05" izz="9.8497E-05" />
|
| 146 |
+
</inertial>
|
| 147 |
+
<visual>
|
| 148 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 149 |
+
<geometry>
|
| 150 |
+
<mesh filename="meshes/arm_seg5.STL" />
|
| 151 |
+
</geometry>
|
| 152 |
+
<material name="">
|
| 153 |
+
<color rgba="1 1 1 1" />
|
| 154 |
+
</material>
|
| 155 |
+
</visual>
|
| 156 |
+
<collision>
|
| 157 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 158 |
+
<geometry>
|
| 159 |
+
<mesh filename="meshes/arm_seg5.STL" />
|
| 160 |
+
</geometry>
|
| 161 |
+
</collision>
|
| 162 |
+
</link>
|
| 163 |
+
<joint name="arm_joint5" type="revolute">
|
| 164 |
+
<origin xyz="0 0 0.2776" rpy="-1.5708 0 3.1416" />
|
| 165 |
+
<parent link="arm_seg4" />
|
| 166 |
+
<child link="arm_seg5" />
|
| 167 |
+
<axis xyz="0 0 1" />
|
| 168 |
+
<limit lower="-1.6581" upper="1.6581" effort="7" velocity="25.133" />
|
| 169 |
+
</joint>
|
| 170 |
+
<link name="arm_seg6">
|
| 171 |
+
<inertial>
|
| 172 |
+
<origin xyz="2.406E-06 -9.4582E-08 -0.038796" rpy="0 0 0" />
|
| 173 |
+
<mass value="0.465" />
|
| 174 |
+
<inertia ixx="0.00011445" ixy="3.336E-10" ixz="1.4799E-08" iyy="0.00011239" iyz="-6.1057E-10" izz="7.4519E-05" />
|
| 175 |
+
</inertial>
|
| 176 |
+
<visual>
|
| 177 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 178 |
+
<geometry>
|
| 179 |
+
<mesh filename="meshes/arm_seg6.STL" />
|
| 180 |
+
</geometry>
|
| 181 |
+
<material name="">
|
| 182 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 183 |
+
</material>
|
| 184 |
+
</visual>
|
| 185 |
+
<collision>
|
| 186 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 187 |
+
<geometry>
|
| 188 |
+
<mesh filename="meshes/arm_seg6.STL" />
|
| 189 |
+
</geometry>
|
| 190 |
+
</collision>
|
| 191 |
+
</link>
|
| 192 |
+
<joint name="arm_joint6" type="revolute">
|
| 193 |
+
<origin xyz="0 -0.1575 -0.00023266" rpy="1.5708 0 0" />
|
| 194 |
+
<parent link="arm_seg5" />
|
| 195 |
+
<child link="arm_seg6" />
|
| 196 |
+
<axis xyz="0 0 1" />
|
| 197 |
+
<limit lower="-2.8798" upper="2.8798" effort="7" velocity="25.133" />
|
| 198 |
+
</joint>
|
| 199 |
+
<link name="gripper1">
|
| 200 |
+
<inertial>
|
| 201 |
+
<origin xyz="0.022575 -0.01276 0.015787" rpy="0 0 0" />
|
| 202 |
+
<mass value="0.057" />
|
| 203 |
+
<inertia ixx="1.7676E-06" ixy="8.2594E-08" ixz="2.5995E-07" iyy="4.7258E-06" iyz="1.2291E-07" izz="5.2672E-06" />
|
| 204 |
+
</inertial>
|
| 205 |
+
<visual>
|
| 206 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 207 |
+
<geometry>
|
| 208 |
+
<mesh filename="meshes/gripper1.STL" />
|
| 209 |
+
</geometry>
|
| 210 |
+
<material name="">
|
| 211 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 212 |
+
</material>
|
| 213 |
+
</visual>
|
| 214 |
+
<collision>
|
| 215 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 216 |
+
<geometry>
|
| 217 |
+
<mesh filename="meshes/gripper1.STL" />
|
| 218 |
+
</geometry>
|
| 219 |
+
</collision>
|
| 220 |
+
</link>
|
| 221 |
+
<joint name="gripper_joint1" type="prismatic">
|
| 222 |
+
<origin xyz="0.014 -0.011914 0.003125" rpy="1.5708 -1.5708 3.1415" />
|
| 223 |
+
<parent link="arm_seg6" />
|
| 224 |
+
<child link="gripper1" />
|
| 225 |
+
<axis xyz="0 0 1" />
|
| 226 |
+
<limit lower="0" upper="0.03" effort="200" velocity="0.25" />
|
| 227 |
+
</joint>
|
| 228 |
+
<link name="gripper2">
|
| 229 |
+
<inertial>
|
| 230 |
+
<origin xyz="0.022575 -0.01276 0.015787" rpy="0 0 0" />
|
| 231 |
+
<mass value="0.057" />
|
| 232 |
+
<inertia ixx="1.7676E-06" ixy="8.2594E-08" ixz="2.5995E-07" iyy="4.7258E-06" iyz="1.2291E-07" izz="5.2672E-06" />
|
| 233 |
+
</inertial>
|
| 234 |
+
<visual>
|
| 235 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 236 |
+
<geometry>
|
| 237 |
+
<mesh filename="meshes/gripper2.STL" />
|
| 238 |
+
</geometry>
|
| 239 |
+
<material name="">
|
| 240 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 241 |
+
</material>
|
| 242 |
+
</visual>
|
| 243 |
+
<collision>
|
| 244 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 245 |
+
<geometry>
|
| 246 |
+
<mesh filename="meshes/gripper2.STL" />
|
| 247 |
+
</geometry>
|
| 248 |
+
</collision>
|
| 249 |
+
</link>
|
| 250 |
+
<joint name="gripper_joint2" type="prismatic">
|
| 251 |
+
<origin xyz="-0.014 0.011914 0.003125" rpy="-1.5708 -1.5708 3.1415" />
|
| 252 |
+
<parent link="arm_seg6" />
|
| 253 |
+
<child link="gripper2" />
|
| 254 |
+
<axis xyz="0 0 1" />
|
| 255 |
+
<limit lower="0" upper="0.03" effort="200" velocity="0.25" />
|
| 256 |
+
</joint>
|
| 257 |
+
</robot>
|
models/a1/urdf/a1_original_mirror.urdf
ADDED
|
@@ -0,0 +1,467 @@
|
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|
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|
|
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|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="A1">
|
| 3 |
+
<link name="base_link">
|
| 4 |
+
<inertial>
|
| 5 |
+
<origin xyz="-0.00056269 -4.1498E-06 0.038934" rpy="0 0 0" />
|
| 6 |
+
<mass value="1.0" />
|
| 7 |
+
<inertia ixx="0.0010597" ixy="1.6825E-07" ixz="1.9821E-05" iyy="0.0010647" iyz="1.9312E-07" izz="0.0011787" />
|
| 8 |
+
</inertial>
|
| 9 |
+
<visual>
|
| 10 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 11 |
+
<geometry>
|
| 12 |
+
<mesh filename="meshes/base_link.STL" />
|
| 13 |
+
</geometry>
|
| 14 |
+
<material name="">
|
| 15 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 16 |
+
</material>
|
| 17 |
+
</visual>
|
| 18 |
+
<collision name="base_link-col-0">
|
| 19 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 20 |
+
<geometry>
|
| 21 |
+
<mesh filename="meshes/collision/base_link-col-0.obj" scale="0.12481569043295189 0.12969005616046225 0.09232043059117086" />
|
| 22 |
+
</geometry>
|
| 23 |
+
</collision>
|
| 24 |
+
</link>
|
| 25 |
+
<link name="arm_seg1">
|
| 26 |
+
<inertial>
|
| 27 |
+
<origin xyz="-1.4403E-06 -0.00074041 0.056573" rpy="0 0 0" />
|
| 28 |
+
<mass value="1.391" />
|
| 29 |
+
<inertia ixx="0.00058101" ixy="-7.5672E-09" ixz="-2.9207E-08" iyy="0.00070857" iyz="8.5639E-07" izz="0.00044583" />
|
| 30 |
+
</inertial>
|
| 31 |
+
<visual>
|
| 32 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 33 |
+
<geometry>
|
| 34 |
+
<mesh filename="meshes/arm_seg1.STL" />
|
| 35 |
+
</geometry>
|
| 36 |
+
<material name="">
|
| 37 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 38 |
+
</material>
|
| 39 |
+
</visual>
|
| 40 |
+
<collision name="arm_seg1-col-0">
|
| 41 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 42 |
+
<geometry>
|
| 43 |
+
<mesh filename="meshes/collision/arm_seg1-col-0.obj" scale="0.10165239674213898 0.07390611410408843 0.12279872714982236" />
|
| 44 |
+
</geometry>
|
| 45 |
+
</collision>
|
| 46 |
+
</link>
|
| 47 |
+
<joint name="arm_joint1" type="revolute">
|
| 48 |
+
<origin xyz="-0.0011147 0 0.0892" rpy="0 0 3.1416" />
|
| 49 |
+
<parent link="base_link" />
|
| 50 |
+
<child link="arm_seg1" />
|
| 51 |
+
<axis xyz="0 0 1" />
|
| 52 |
+
<limit lower="-2.8798" upper="2.8798" effort="40" velocity="20.944" />
|
| 53 |
+
</joint>
|
| 54 |
+
<link name="arm_seg2">
|
| 55 |
+
<inertial>
|
| 56 |
+
<origin xyz="0.23622 0.016356 9.154E-05" rpy="0 0 0" />
|
| 57 |
+
<mass value="1.3" />
|
| 58 |
+
<inertia ixx="0.00060643" ixy="-0.00041827" ixz="0.00014951" iyy="0.0075939" iyz="8.093E-06" izz="0.0075715" />
|
| 59 |
+
</inertial>
|
| 60 |
+
<visual>
|
| 61 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 62 |
+
<geometry>
|
| 63 |
+
<mesh filename="meshes/arm_seg2.STL" />
|
| 64 |
+
</geometry>
|
| 65 |
+
<material name="">
|
| 66 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 67 |
+
</material>
|
| 68 |
+
</visual>
|
| 69 |
+
<collision name="arm_seg2-col-0">
|
| 70 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 71 |
+
<geometry>
|
| 72 |
+
<mesh filename="meshes/collision/arm_seg2-col-0.obj" scale="0.3004354404616324 0.021244005085542916 0.09413088890852007" />
|
| 73 |
+
</geometry>
|
| 74 |
+
</collision>
|
| 75 |
+
<collision name="arm_seg2-col-1">
|
| 76 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 77 |
+
<geometry>
|
| 78 |
+
<mesh filename="meshes/collision/arm_seg2-col-1.obj" scale="0.0807276027249112 0.07952538973874154 0.07596196844432648" />
|
| 79 |
+
</geometry>
|
| 80 |
+
</collision>
|
| 81 |
+
<collision name="arm_seg2-col-2">
|
| 82 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 83 |
+
<geometry>
|
| 84 |
+
<mesh filename="meshes/collision/arm_seg2-col-2.obj" scale="0.08521860397948056 0.0524943444554303 0.051218245679555414" />
|
| 85 |
+
</geometry>
|
| 86 |
+
</collision>
|
| 87 |
+
<collision name="arm_seg2-col-3">
|
| 88 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 89 |
+
<geometry>
|
| 90 |
+
<mesh filename="meshes/collision/arm_seg2-col-3.obj" scale="0.2059680379153317 0.056823638542495836 0.029886320624713525" />
|
| 91 |
+
</geometry>
|
| 92 |
+
</collision>
|
| 93 |
+
<collision name="arm_seg2-col-4">
|
| 94 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 95 |
+
<geometry>
|
| 96 |
+
<mesh filename="meshes/collision/arm_seg2-col-4.obj" scale="0.2060174963620424 0.0721189491597524 0.03191659589936818" />
|
| 97 |
+
</geometry>
|
| 98 |
+
</collision>
|
| 99 |
+
<collision name="arm_seg2-col-5">
|
| 100 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 101 |
+
<geometry>
|
| 102 |
+
<mesh filename="meshes/collision/arm_seg2-col-5.obj" scale="0.15237697031665343 0.08657724827273147 0.022796732553987245" />
|
| 103 |
+
</geometry>
|
| 104 |
+
</collision>
|
| 105 |
+
<collision name="arm_seg2-col-6">
|
| 106 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 107 |
+
<geometry>
|
| 108 |
+
<mesh filename="meshes/collision/arm_seg2-col-6.obj" scale="0.20596672513099046 0.018019602846256755 0.047132096622410524" />
|
| 109 |
+
</geometry>
|
| 110 |
+
</collision>
|
| 111 |
+
<collision name="arm_seg2-col-7">
|
| 112 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 113 |
+
<geometry>
|
| 114 |
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<mesh filename="meshes/collision/arm_seg2-col-7.obj" scale="0.1556674334462846 0.08646203829977436 0.021986502522974363" />
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| 115 |
+
</geometry>
|
| 116 |
+
</collision>
|
| 117 |
+
</link>
|
| 118 |
+
<joint name="arm_joint2" type="revolute">
|
| 119 |
+
<origin xyz="0 -4E-05 0.0615" rpy="1.5708 0 0" />
|
| 120 |
+
<parent link="arm_seg1" />
|
| 121 |
+
<child link="arm_seg2" />
|
| 122 |
+
<axis xyz="0 0 1" />
|
| 123 |
+
<limit lower="0" upper="3.1415" effort="40" velocity="20.944" />
|
| 124 |
+
</joint>
|
| 125 |
+
<link name="arm_seg3">
|
| 126 |
+
<inertial>
|
| 127 |
+
<origin xyz="0.054443 0.045347 0.00042807" rpy="0 0 0" />
|
| 128 |
+
<mass value="0.818" />
|
| 129 |
+
<inertia ixx="0.0013904" ixy="-0.00022559" ixz="9.6874E-06" iyy="0.00059564" iyz="7.1658E-06" izz="0.0014962" />
|
| 130 |
+
</inertial>
|
| 131 |
+
<visual>
|
| 132 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 133 |
+
<geometry>
|
| 134 |
+
<mesh filename="meshes/arm_seg3.STL" />
|
| 135 |
+
</geometry>
|
| 136 |
+
<material name="">
|
| 137 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 138 |
+
</material>
|
| 139 |
+
</visual>
|
| 140 |
+
<collision name="arm_seg3-col-0">
|
| 141 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 142 |
+
<geometry>
|
| 143 |
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<mesh filename="meshes/collision/arm_seg3-col-0.obj" scale="0.024752913502609653 0.1073870120670958 0.07243258966329646" />
|
| 144 |
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</geometry>
|
| 145 |
+
</collision>
|
| 146 |
+
<collision name="arm_seg3-col-1">
|
| 147 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 148 |
+
<geometry>
|
| 149 |
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<mesh filename="meshes/collision/arm_seg3-col-1.obj" scale="0.1398897315500028 0.12713621158632568 0.032608104599865906" />
|
| 150 |
+
</geometry>
|
| 151 |
+
</collision>
|
| 152 |
+
<collision name="arm_seg3-col-2">
|
| 153 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 154 |
+
<geometry>
|
| 155 |
+
<mesh filename="meshes/collision/arm_seg3-col-2.obj" scale="0.04005897057046992 0.24885975722355858 0.07051493368469411" />
|
| 156 |
+
</geometry>
|
| 157 |
+
</collision>
|
| 158 |
+
<collision name="arm_seg3-col-3">
|
| 159 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 160 |
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<geometry>
|
| 161 |
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<mesh filename="meshes/collision/arm_seg3-col-3.obj" scale="0.0662857326727257 0.09987169769629387 0.025165333823699728" />
|
| 162 |
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</geometry>
|
| 163 |
+
</collision>
|
| 164 |
+
<collision name="arm_seg3-col-4">
|
| 165 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 166 |
+
<geometry>
|
| 167 |
+
<mesh filename="meshes/collision/arm_seg3-col-4.obj" scale="0.022390017791689767 0.21383768067053355 0.07871569830458006" />
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| 168 |
+
</geometry>
|
| 169 |
+
</collision>
|
| 170 |
+
<collision name="arm_seg3-col-5">
|
| 171 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 172 |
+
<geometry>
|
| 173 |
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<mesh filename="meshes/collision/arm_seg3-col-5.obj" scale="0.01845288002255191 0.08528881240121884 0.061723092292414725" />
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| 174 |
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</geometry>
|
| 175 |
+
</collision>
|
| 176 |
+
<collision name="arm_seg3-col-6">
|
| 177 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 178 |
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<geometry>
|
| 179 |
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<mesh filename="meshes/collision/arm_seg3-col-6.obj" scale="0.0371096259293012 0.04028608040115844 0.06829882669052546" />
|
| 180 |
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</geometry>
|
| 181 |
+
</collision>
|
| 182 |
+
<collision name="arm_seg3-col-7">
|
| 183 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 184 |
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<geometry>
|
| 185 |
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<mesh filename="meshes/collision/arm_seg3-col-7.obj" scale="0.023713800794519624 0.15126554649412455 0.02053324537916125" />
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| 186 |
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</geometry>
|
| 187 |
+
</collision>
|
| 188 |
+
</link>
|
| 189 |
+
<joint name="arm_joint3" type="revolute">
|
| 190 |
+
<origin xyz="0.34928 0.02 0" rpy="0 0 1.5708" />
|
| 191 |
+
<parent link="arm_seg2" />
|
| 192 |
+
<child link="arm_seg3" />
|
| 193 |
+
<axis xyz="0 0 1" />
|
| 194 |
+
<limit lower="-3.3161" upper="0" effort="27" velocity="7.5398" />
|
| 195 |
+
</joint>
|
| 196 |
+
<link name="arm_seg4">
|
| 197 |
+
<inertial>
|
| 198 |
+
<origin xyz="7.6256E-07 -0.0021448 0.27415" rpy="0 0 0" />
|
| 199 |
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<mass value="0.816" />
|
| 200 |
+
<inertia ixx="9.7042E-05" ixy="-5.177E-09" ixz="-2.2681E-09" iyy="0.00010174" iyz="8.2528E-07" izz="8.4501E-05" />
|
| 201 |
+
</inertial>
|
| 202 |
+
<visual>
|
| 203 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 204 |
+
<geometry>
|
| 205 |
+
<mesh filename="meshes/arm_seg4.STL" />
|
| 206 |
+
</geometry>
|
| 207 |
+
<material name="">
|
| 208 |
+
<color rgba="1 1 1 1" />
|
| 209 |
+
</material>
|
| 210 |
+
</visual>
|
| 211 |
+
<collision name="arm_seg4-col-0">
|
| 212 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 213 |
+
<geometry>
|
| 214 |
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<mesh filename="meshes/collision/arm_seg4-col-0.obj" scale="0.06332391699081943 0.06473724103154198 0.06943311482781456" />
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| 215 |
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</geometry>
|
| 216 |
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</collision>
|
| 217 |
+
</link>
|
| 218 |
+
<joint name="arm_joint4" type="revolute">
|
| 219 |
+
<origin xyz="0.07 -0.00395 -4E-05" rpy="-1.5708 1.5708 0" />
|
| 220 |
+
<parent link="arm_seg3" />
|
| 221 |
+
<child link="arm_seg4" />
|
| 222 |
+
<axis xyz="0 0 1" />
|
| 223 |
+
<limit lower="-2.8798" upper="2.8798" effort="7" velocity="25.133" />
|
| 224 |
+
</joint>
|
| 225 |
+
<link name="arm_seg5">
|
| 226 |
+
<inertial>
|
| 227 |
+
<origin xyz="-3.9997E-06 -0.05431 0.0034482" rpy="0 0 0" />
|
| 228 |
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<mass value="0.801" />
|
| 229 |
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<inertia ixx="0.00011332" ixy="7.432E-08" ixz="1.368E-08" iyy="8.3999E-05" iyz="-1.6234E-05" izz="9.8497E-05" />
|
| 230 |
+
</inertial>
|
| 231 |
+
<visual>
|
| 232 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 233 |
+
<geometry>
|
| 234 |
+
<mesh filename="meshes/arm_seg5.STL" />
|
| 235 |
+
</geometry>
|
| 236 |
+
<material name="">
|
| 237 |
+
<color rgba="1 1 1 1" />
|
| 238 |
+
</material>
|
| 239 |
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</visual>
|
| 240 |
+
<collision name="arm_seg5-col-0">
|
| 241 |
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<origin xyz="0 0 0" rpy="0 0 0" />
|
| 242 |
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<geometry>
|
| 243 |
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<mesh filename="meshes/collision/arm_seg5-col-0.obj" scale="0.03267031899692348 0.05341618172776004 0.062067744942003664" />
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| 244 |
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</geometry>
|
| 245 |
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</collision>
|
| 246 |
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<collision name="arm_seg5-col-1">
|
| 247 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 248 |
+
<geometry>
|
| 249 |
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<mesh filename="meshes/collision/arm_seg5-col-1.obj" scale="0.03108759582949762 0.05339162286567458 0.06013489541000714" />
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| 250 |
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</geometry>
|
| 251 |
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</collision>
|
| 252 |
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<collision name="arm_seg5-col-2">
|
| 253 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 254 |
+
<geometry>
|
| 255 |
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<mesh filename="meshes/collision/arm_seg5-col-2.obj" scale="0.026463030090208256 0.05398080941709572 0.009442623231534872" />
|
| 256 |
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</geometry>
|
| 257 |
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</collision>
|
| 258 |
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<collision name="arm_seg5-col-3">
|
| 259 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 260 |
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<geometry>
|
| 261 |
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<mesh filename="meshes/collision/arm_seg5-col-3.obj" scale="0.020451442789586823 0.020383818415420828 0.006348428104902714" />
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| 262 |
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</geometry>
|
| 263 |
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</collision>
|
| 264 |
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<collision name="arm_seg5-col-4">
|
| 265 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 266 |
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<geometry>
|
| 267 |
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<mesh filename="meshes/collision/arm_seg5-col-4.obj" scale="0.022935577704323466 0.05683231630476869 0.007030813027039659" />
|
| 268 |
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</geometry>
|
| 269 |
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</collision>
|
| 270 |
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<collision name="arm_seg5-col-5">
|
| 271 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 272 |
+
<geometry>
|
| 273 |
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<mesh filename="meshes/collision/arm_seg5-col-5.obj" scale="0.01401682873121526 0.1028933771255301 0.007057142614264794" />
|
| 274 |
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</geometry>
|
| 275 |
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</collision>
|
| 276 |
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<collision name="arm_seg5-col-6">
|
| 277 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 278 |
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<geometry>
|
| 279 |
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<mesh filename="meshes/collision/arm_seg5-col-6.obj" scale="0.037028476344048794 0.01933930051346722 0.006349210197470062" />
|
| 280 |
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</geometry>
|
| 281 |
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</collision>
|
| 282 |
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<collision name="arm_seg5-col-7">
|
| 283 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 284 |
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<geometry>
|
| 285 |
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<mesh filename="meshes/collision/arm_seg5-col-7.obj" scale="0.016509072060545634 0.024077259503684494 0.006349299305686895" />
|
| 286 |
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</geometry>
|
| 287 |
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</collision>
|
| 288 |
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</link>
|
| 289 |
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<joint name="arm_joint5" type="revolute">
|
| 290 |
+
<origin xyz="0 0 0.2776" rpy="-1.5708 0 3.1416" />
|
| 291 |
+
<parent link="arm_seg4" />
|
| 292 |
+
<child link="arm_seg5" />
|
| 293 |
+
<axis xyz="0 0 1" />
|
| 294 |
+
<limit lower="-1.6581" upper="1.6581" effort="7" velocity="25.133" />
|
| 295 |
+
</joint>
|
| 296 |
+
<link name="arm_seg6">
|
| 297 |
+
<inertial>
|
| 298 |
+
<origin xyz="2.406E-06 -9.4582E-08 -0.038796" rpy="0 0 0" />
|
| 299 |
+
<mass value="0.465" />
|
| 300 |
+
<inertia ixx="0.00011445" ixy="3.336E-10" ixz="1.4799E-08" iyy="0.00011239" iyz="-6.1057E-10" izz="7.4519E-05" />
|
| 301 |
+
</inertial>
|
| 302 |
+
<visual>
|
| 303 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 304 |
+
<geometry>
|
| 305 |
+
<mesh filename="meshes/arm_seg6.STL" />
|
| 306 |
+
</geometry>
|
| 307 |
+
<material name="">
|
| 308 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 309 |
+
</material>
|
| 310 |
+
</visual>
|
| 311 |
+
<collision name="arm_seg6-col-0">
|
| 312 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 313 |
+
<geometry>
|
| 314 |
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<mesh filename="meshes/collision/arm_seg6-col-0.obj" scale="0.06175654977038431 0.060122202752699486 0.07610860215749395" />
|
| 315 |
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</geometry>
|
| 316 |
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</collision>
|
| 317 |
+
</link>
|
| 318 |
+
<joint name="arm_joint6" type="revolute">
|
| 319 |
+
<origin xyz="0 -0.1575 -0.00023266" rpy="1.5708 0 0" />
|
| 320 |
+
<parent link="arm_seg5" />
|
| 321 |
+
<child link="arm_seg6" />
|
| 322 |
+
<axis xyz="0 0 1" />
|
| 323 |
+
<limit lower="-2.8798" upper="2.8798" effort="7" velocity="25.133" />
|
| 324 |
+
</joint>
|
| 325 |
+
<link name="gripper1">
|
| 326 |
+
<inertial>
|
| 327 |
+
<origin xyz="0.022575 -0.01276 0.015787" rpy="0 0 0" />
|
| 328 |
+
<mass value="0.057" />
|
| 329 |
+
<inertia ixx="1.7676E-06" ixy="8.2594E-08" ixz="2.5995E-07" iyy="4.7258E-06" iyz="1.2291E-07" izz="5.2672E-06" />
|
| 330 |
+
</inertial>
|
| 331 |
+
<visual>
|
| 332 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 333 |
+
<geometry>
|
| 334 |
+
<mesh filename="meshes/gripper1.STL" />
|
| 335 |
+
</geometry>
|
| 336 |
+
<material name="">
|
| 337 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 338 |
+
</material>
|
| 339 |
+
</visual>
|
| 340 |
+
<collision name="gripper1-col-0">
|
| 341 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 342 |
+
<geometry>
|
| 343 |
+
<mesh filename="meshes/collision/gripper1-col-0.obj" scale="0.01607684638007697 0.011416310309406166 0.024613410159352603" />
|
| 344 |
+
</geometry>
|
| 345 |
+
</collision>
|
| 346 |
+
<collision name="gripper1-col-1">
|
| 347 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 348 |
+
<geometry>
|
| 349 |
+
<mesh filename="meshes/collision/gripper1-col-1.obj" scale="0.0054672983862862345 0.005164126333300101 0.000809456443007936" />
|
| 350 |
+
</geometry>
|
| 351 |
+
</collision>
|
| 352 |
+
<collision name="gripper1-col-2">
|
| 353 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 354 |
+
<geometry>
|
| 355 |
+
<mesh filename="meshes/collision/gripper1-col-2.obj" scale="0.01111089540647977 0.022055921798174005 0.007231445118359579" />
|
| 356 |
+
</geometry>
|
| 357 |
+
</collision>
|
| 358 |
+
<collision name="gripper1-col-3">
|
| 359 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 360 |
+
<geometry>
|
| 361 |
+
<mesh filename="meshes/collision/gripper1-col-3.obj" scale="0.06541727321698343 0.007334828226021266 0.005011991882233339" />
|
| 362 |
+
</geometry>
|
| 363 |
+
</collision>
|
| 364 |
+
<collision name="gripper1-col-4">
|
| 365 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 366 |
+
<geometry>
|
| 367 |
+
<mesh filename="meshes/collision/gripper1-col-4.obj" scale="0.06930530628406517 0.03158874650764183 0.010722508849302072" />
|
| 368 |
+
</geometry>
|
| 369 |
+
</collision>
|
| 370 |
+
<collision name="gripper1-col-5">
|
| 371 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 372 |
+
<geometry>
|
| 373 |
+
<mesh filename="meshes/collision/gripper1-col-5.obj" scale="0.06622688366531121 0.012189614774233866 0.005011629134048998" />
|
| 374 |
+
</geometry>
|
| 375 |
+
</collision>
|
| 376 |
+
<collision name="gripper1-col-6">
|
| 377 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 378 |
+
<geometry>
|
| 379 |
+
<mesh filename="meshes/collision/gripper1-col-6.obj" scale="0.06661600331332274 0.012051860908168175 0.005012016266029193" />
|
| 380 |
+
</geometry>
|
| 381 |
+
</collision>
|
| 382 |
+
<collision name="gripper1-col-7">
|
| 383 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 384 |
+
<geometry>
|
| 385 |
+
<mesh filename="meshes/collision/gripper1-col-7.obj" scale="0.005030825383322224 0.007334827418441382 0.005011991226673701" />
|
| 386 |
+
</geometry>
|
| 387 |
+
</collision>
|
| 388 |
+
</link>
|
| 389 |
+
<joint name="gripper_joint1" type="prismatic">
|
| 390 |
+
<origin xyz="0.014 -0.011914 0.003125" rpy="1.5708 -1.5708 3.1415" />
|
| 391 |
+
<parent link="arm_seg6" />
|
| 392 |
+
<child link="gripper1" />
|
| 393 |
+
<axis xyz="0 0 1" />
|
| 394 |
+
<limit lower="0" upper="0.03" effort="200" velocity="0.25" />
|
| 395 |
+
</joint>
|
| 396 |
+
<link name="gripper2">
|
| 397 |
+
<inertial>
|
| 398 |
+
<origin xyz="0.022575 -0.01276 0.015787" rpy="0 0 0" />
|
| 399 |
+
<mass value="0.057" />
|
| 400 |
+
<inertia ixx="1.7676E-06" ixy="8.2594E-08" ixz="2.5995E-07" iyy="4.7258E-06" iyz="1.2291E-07" izz="5.2672E-06" />
|
| 401 |
+
</inertial>
|
| 402 |
+
<visual>
|
| 403 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 404 |
+
<geometry>
|
| 405 |
+
<mesh filename="meshes/gripper2.STL" />
|
| 406 |
+
</geometry>
|
| 407 |
+
<material name="">
|
| 408 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 409 |
+
</material>
|
| 410 |
+
</visual>
|
| 411 |
+
<collision name="gripper2-col-0">
|
| 412 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 413 |
+
<geometry>
|
| 414 |
+
<mesh filename="meshes/collision/gripper2-col-0.obj" scale="0.01607684638007697 0.011416310309406166 0.024613410159352603" />
|
| 415 |
+
</geometry>
|
| 416 |
+
</collision>
|
| 417 |
+
<collision name="gripper2-col-1">
|
| 418 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 419 |
+
<geometry>
|
| 420 |
+
<mesh filename="meshes/collision/gripper2-col-1.obj" scale="0.0054672983862862345 0.005164126333300101 0.000809456443007936" />
|
| 421 |
+
</geometry>
|
| 422 |
+
</collision>
|
| 423 |
+
<collision name="gripper2-col-2">
|
| 424 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 425 |
+
<geometry>
|
| 426 |
+
<mesh filename="meshes/collision/gripper2-col-2.obj" scale="0.01111089540647977 0.022055921798174005 0.007231445118359579" />
|
| 427 |
+
</geometry>
|
| 428 |
+
</collision>
|
| 429 |
+
<collision name="gripper2-col-3">
|
| 430 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 431 |
+
<geometry>
|
| 432 |
+
<mesh filename="meshes/collision/gripper2-col-3.obj" scale="0.06541727321698343 0.007334828226021266 0.005011991882233339" />
|
| 433 |
+
</geometry>
|
| 434 |
+
</collision>
|
| 435 |
+
<collision name="gripper2-col-4">
|
| 436 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 437 |
+
<geometry>
|
| 438 |
+
<mesh filename="meshes/collision/gripper2-col-4.obj" scale="0.06942052158411795 0.03159276895643274 0.010702954246126752" />
|
| 439 |
+
</geometry>
|
| 440 |
+
</collision>
|
| 441 |
+
<collision name="gripper2-col-5">
|
| 442 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 443 |
+
<geometry>
|
| 444 |
+
<mesh filename="meshes/collision/gripper2-col-5.obj" scale="0.06622688366531121 0.012189614774233866 0.005011629134048998" />
|
| 445 |
+
</geometry>
|
| 446 |
+
</collision>
|
| 447 |
+
<collision name="gripper2-col-6">
|
| 448 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 449 |
+
<geometry>
|
| 450 |
+
<mesh filename="meshes/collision/gripper2-col-6.obj" scale="0.005030825383322224 0.007334827418441382 0.005011991226673701" />
|
| 451 |
+
</geometry>
|
| 452 |
+
</collision>
|
| 453 |
+
<collision name="gripper2-col-7">
|
| 454 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 455 |
+
<geometry>
|
| 456 |
+
<mesh filename="meshes/collision/gripper2-col-7.obj" scale="0.06661600331332274 0.012051860908168175 0.005012016266029193" />
|
| 457 |
+
</geometry>
|
| 458 |
+
</collision>
|
| 459 |
+
</link>
|
| 460 |
+
<joint name="gripper_joint2" type="prismatic">
|
| 461 |
+
<origin xyz="-0.014 0.011914 0.003125" rpy="-1.5708 -1.5708 3.1415" />
|
| 462 |
+
<parent link="arm_seg6" />
|
| 463 |
+
<child link="gripper2" />
|
| 464 |
+
<axis xyz="0 0 1" />
|
| 465 |
+
<limit lower="0" upper="0.03" effort="200" velocity="0.25" />
|
| 466 |
+
</joint>
|
| 467 |
+
</robot>
|
models/a1/urdf/a1_with_metalinks.urdf
ADDED
|
@@ -0,0 +1,467 @@
|
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|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="A1">
|
| 3 |
+
<link name="base_link">
|
| 4 |
+
<inertial>
|
| 5 |
+
<origin xyz="-0.00056269 -4.1498E-06 0.038934" rpy="0 0 0" />
|
| 6 |
+
<mass value="1.0" />
|
| 7 |
+
<inertia ixx="0.0010597" ixy="1.6825E-07" ixz="1.9821E-05" iyy="0.0010647" iyz="1.9312E-07" izz="0.0011787" />
|
| 8 |
+
</inertial>
|
| 9 |
+
<visual>
|
| 10 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 11 |
+
<geometry>
|
| 12 |
+
<mesh filename="meshes/base_link.STL" />
|
| 13 |
+
</geometry>
|
| 14 |
+
<material name="">
|
| 15 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 16 |
+
</material>
|
| 17 |
+
</visual>
|
| 18 |
+
<collision name="base_link-col-0">
|
| 19 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 20 |
+
<geometry>
|
| 21 |
+
<mesh filename="meshes/collision/base_link-col-0.obj" scale="0.12481569043295189 0.12969005616046225 0.09232043059117086" />
|
| 22 |
+
</geometry>
|
| 23 |
+
</collision>
|
| 24 |
+
</link>
|
| 25 |
+
<link name="arm_seg1">
|
| 26 |
+
<inertial>
|
| 27 |
+
<origin xyz="-1.4403E-06 -0.00074041 0.056573" rpy="0 0 0" />
|
| 28 |
+
<mass value="1.391" />
|
| 29 |
+
<inertia ixx="0.00058101" ixy="-7.5672E-09" ixz="-2.9207E-08" iyy="0.00070857" iyz="8.5639E-07" izz="0.00044583" />
|
| 30 |
+
</inertial>
|
| 31 |
+
<visual>
|
| 32 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 33 |
+
<geometry>
|
| 34 |
+
<mesh filename="meshes/arm_seg1.STL" />
|
| 35 |
+
</geometry>
|
| 36 |
+
<material name="">
|
| 37 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 38 |
+
</material>
|
| 39 |
+
</visual>
|
| 40 |
+
<collision name="arm_seg1-col-0">
|
| 41 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 42 |
+
<geometry>
|
| 43 |
+
<mesh filename="meshes/collision/arm_seg1-col-0.obj" scale="0.10165239674213898 0.07390611410408843 0.12279872714982236" />
|
| 44 |
+
</geometry>
|
| 45 |
+
</collision>
|
| 46 |
+
</link>
|
| 47 |
+
<joint name="arm_joint1" type="revolute">
|
| 48 |
+
<origin xyz="-0.0011147 0 0.0892" rpy="0 0 3.1416" />
|
| 49 |
+
<parent link="base_link" />
|
| 50 |
+
<child link="arm_seg1" />
|
| 51 |
+
<axis xyz="0 0 1" />
|
| 52 |
+
<limit lower="-2.8798" upper="2.8798" effort="40" velocity="20.944" />
|
| 53 |
+
</joint>
|
| 54 |
+
<link name="arm_seg2">
|
| 55 |
+
<inertial>
|
| 56 |
+
<origin xyz="0.23622 0.016356 9.154E-05" rpy="0 0 0" />
|
| 57 |
+
<mass value="1.3" />
|
| 58 |
+
<inertia ixx="0.00060643" ixy="-0.00041827" ixz="0.00014951" iyy="0.0075939" iyz="8.093E-06" izz="0.0075715" />
|
| 59 |
+
</inertial>
|
| 60 |
+
<visual>
|
| 61 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 62 |
+
<geometry>
|
| 63 |
+
<mesh filename="meshes/arm_seg2.STL" />
|
| 64 |
+
</geometry>
|
| 65 |
+
<material name="">
|
| 66 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 67 |
+
</material>
|
| 68 |
+
</visual>
|
| 69 |
+
<collision name="arm_seg2-col-0">
|
| 70 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 71 |
+
<geometry>
|
| 72 |
+
<mesh filename="meshes/collision/arm_seg2-col-0.obj" scale="0.3004354404616324 0.021244005085542916 0.09413088890852007" />
|
| 73 |
+
</geometry>
|
| 74 |
+
</collision>
|
| 75 |
+
<collision name="arm_seg2-col-1">
|
| 76 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 77 |
+
<geometry>
|
| 78 |
+
<mesh filename="meshes/collision/arm_seg2-col-1.obj" scale="0.0807276027249112 0.07952538973874154 0.07596196844432648" />
|
| 79 |
+
</geometry>
|
| 80 |
+
</collision>
|
| 81 |
+
<collision name="arm_seg2-col-2">
|
| 82 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 83 |
+
<geometry>
|
| 84 |
+
<mesh filename="meshes/collision/arm_seg2-col-2.obj" scale="0.08521860397948056 0.0524943444554303 0.051218245679555414" />
|
| 85 |
+
</geometry>
|
| 86 |
+
</collision>
|
| 87 |
+
<collision name="arm_seg2-col-3">
|
| 88 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 89 |
+
<geometry>
|
| 90 |
+
<mesh filename="meshes/collision/arm_seg2-col-3.obj" scale="0.2059680379153317 0.056823638542495836 0.029886320624713525" />
|
| 91 |
+
</geometry>
|
| 92 |
+
</collision>
|
| 93 |
+
<collision name="arm_seg2-col-4">
|
| 94 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 95 |
+
<geometry>
|
| 96 |
+
<mesh filename="meshes/collision/arm_seg2-col-4.obj" scale="0.2060174963620424 0.0721189491597524 0.03191659589936818" />
|
| 97 |
+
</geometry>
|
| 98 |
+
</collision>
|
| 99 |
+
<collision name="arm_seg2-col-5">
|
| 100 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 101 |
+
<geometry>
|
| 102 |
+
<mesh filename="meshes/collision/arm_seg2-col-5.obj" scale="0.15237697031665343 0.08657724827273147 0.022796732553987245" />
|
| 103 |
+
</geometry>
|
| 104 |
+
</collision>
|
| 105 |
+
<collision name="arm_seg2-col-6">
|
| 106 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 107 |
+
<geometry>
|
| 108 |
+
<mesh filename="meshes/collision/arm_seg2-col-6.obj" scale="0.20596672513099046 0.018019602846256755 0.047132096622410524" />
|
| 109 |
+
</geometry>
|
| 110 |
+
</collision>
|
| 111 |
+
<collision name="arm_seg2-col-7">
|
| 112 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 113 |
+
<geometry>
|
| 114 |
+
<mesh filename="meshes/collision/arm_seg2-col-7.obj" scale="0.1556674334462846 0.08646203829977436 0.021986502522974363" />
|
| 115 |
+
</geometry>
|
| 116 |
+
</collision>
|
| 117 |
+
</link>
|
| 118 |
+
<joint name="arm_joint2" type="revolute">
|
| 119 |
+
<origin xyz="0 -4E-05 0.0615" rpy="1.5708 0 0" />
|
| 120 |
+
<parent link="arm_seg1" />
|
| 121 |
+
<child link="arm_seg2" />
|
| 122 |
+
<axis xyz="0 0 1" />
|
| 123 |
+
<limit lower="0" upper="3.1415" effort="40" velocity="20.944" />
|
| 124 |
+
</joint>
|
| 125 |
+
<link name="arm_seg3">
|
| 126 |
+
<inertial>
|
| 127 |
+
<origin xyz="0.054443 0.045347 0.00042807" rpy="0 0 0" />
|
| 128 |
+
<mass value="0.818" />
|
| 129 |
+
<inertia ixx="0.0013904" ixy="-0.00022559" ixz="9.6874E-06" iyy="0.00059564" iyz="7.1658E-06" izz="0.0014962" />
|
| 130 |
+
</inertial>
|
| 131 |
+
<visual>
|
| 132 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 133 |
+
<geometry>
|
| 134 |
+
<mesh filename="meshes/arm_seg3.STL" />
|
| 135 |
+
</geometry>
|
| 136 |
+
<material name="">
|
| 137 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 138 |
+
</material>
|
| 139 |
+
</visual>
|
| 140 |
+
<collision name="arm_seg3-col-0">
|
| 141 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 142 |
+
<geometry>
|
| 143 |
+
<mesh filename="meshes/collision/arm_seg3-col-0.obj" scale="0.024752913502609653 0.1073870120670958 0.07243258966329646" />
|
| 144 |
+
</geometry>
|
| 145 |
+
</collision>
|
| 146 |
+
<collision name="arm_seg3-col-1">
|
| 147 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 148 |
+
<geometry>
|
| 149 |
+
<mesh filename="meshes/collision/arm_seg3-col-1.obj" scale="0.1398897315500028 0.12713621158632568 0.032608104599865906" />
|
| 150 |
+
</geometry>
|
| 151 |
+
</collision>
|
| 152 |
+
<collision name="arm_seg3-col-2">
|
| 153 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 154 |
+
<geometry>
|
| 155 |
+
<mesh filename="meshes/collision/arm_seg3-col-2.obj" scale="0.04005897057046992 0.24885975722355858 0.07051493368469411" />
|
| 156 |
+
</geometry>
|
| 157 |
+
</collision>
|
| 158 |
+
<collision name="arm_seg3-col-3">
|
| 159 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 160 |
+
<geometry>
|
| 161 |
+
<mesh filename="meshes/collision/arm_seg3-col-3.obj" scale="0.0662857326727257 0.09987169769629387 0.025165333823699728" />
|
| 162 |
+
</geometry>
|
| 163 |
+
</collision>
|
| 164 |
+
<collision name="arm_seg3-col-4">
|
| 165 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 166 |
+
<geometry>
|
| 167 |
+
<mesh filename="meshes/collision/arm_seg3-col-4.obj" scale="0.022390017791689767 0.21383768067053355 0.07871569830458006" />
|
| 168 |
+
</geometry>
|
| 169 |
+
</collision>
|
| 170 |
+
<collision name="arm_seg3-col-5">
|
| 171 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 172 |
+
<geometry>
|
| 173 |
+
<mesh filename="meshes/collision/arm_seg3-col-5.obj" scale="0.01845288002255191 0.08528881240121884 0.061723092292414725" />
|
| 174 |
+
</geometry>
|
| 175 |
+
</collision>
|
| 176 |
+
<collision name="arm_seg3-col-6">
|
| 177 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 178 |
+
<geometry>
|
| 179 |
+
<mesh filename="meshes/collision/arm_seg3-col-6.obj" scale="0.0371096259293012 0.04028608040115844 0.06829882669052546" />
|
| 180 |
+
</geometry>
|
| 181 |
+
</collision>
|
| 182 |
+
<collision name="arm_seg3-col-7">
|
| 183 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 184 |
+
<geometry>
|
| 185 |
+
<mesh filename="meshes/collision/arm_seg3-col-7.obj" scale="0.023713800794519624 0.15126554649412455 0.02053324537916125" />
|
| 186 |
+
</geometry>
|
| 187 |
+
</collision>
|
| 188 |
+
</link>
|
| 189 |
+
<joint name="arm_joint3" type="revolute">
|
| 190 |
+
<origin xyz="0.34928 0.02 0" rpy="0 0 1.5708" />
|
| 191 |
+
<parent link="arm_seg2" />
|
| 192 |
+
<child link="arm_seg3" />
|
| 193 |
+
<axis xyz="0 0 1" />
|
| 194 |
+
<limit lower="-3.3161" upper="0" effort="27" velocity="7.5398" />
|
| 195 |
+
</joint>
|
| 196 |
+
<link name="arm_seg4">
|
| 197 |
+
<inertial>
|
| 198 |
+
<origin xyz="7.6256E-07 -0.0021448 0.27415" rpy="0 0 0" />
|
| 199 |
+
<mass value="0.816" />
|
| 200 |
+
<inertia ixx="9.7042E-05" ixy="-5.177E-09" ixz="-2.2681E-09" iyy="0.00010174" iyz="8.2528E-07" izz="8.4501E-05" />
|
| 201 |
+
</inertial>
|
| 202 |
+
<visual>
|
| 203 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 204 |
+
<geometry>
|
| 205 |
+
<mesh filename="meshes/arm_seg4.STL" />
|
| 206 |
+
</geometry>
|
| 207 |
+
<material name="">
|
| 208 |
+
<color rgba="1 1 1 1" />
|
| 209 |
+
</material>
|
| 210 |
+
</visual>
|
| 211 |
+
<collision name="arm_seg4-col-0">
|
| 212 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 213 |
+
<geometry>
|
| 214 |
+
<mesh filename="meshes/collision/arm_seg4-col-0.obj" scale="0.06332391699081943 0.06473724103154198 0.06943311482781456" />
|
| 215 |
+
</geometry>
|
| 216 |
+
</collision>
|
| 217 |
+
</link>
|
| 218 |
+
<joint name="arm_joint4" type="revolute">
|
| 219 |
+
<origin xyz="0.07 -0.00395 -4E-05" rpy="-1.5708 1.5708 0" />
|
| 220 |
+
<parent link="arm_seg3" />
|
| 221 |
+
<child link="arm_seg4" />
|
| 222 |
+
<axis xyz="0 0 1" />
|
| 223 |
+
<limit lower="-2.8798" upper="2.8798" effort="7" velocity="25.133" />
|
| 224 |
+
</joint>
|
| 225 |
+
<link name="arm_seg5">
|
| 226 |
+
<inertial>
|
| 227 |
+
<origin xyz="-3.9997E-06 -0.05431 0.0034482" rpy="0 0 0" />
|
| 228 |
+
<mass value="0.801" />
|
| 229 |
+
<inertia ixx="0.00011332" ixy="7.432E-08" ixz="1.368E-08" iyy="8.3999E-05" iyz="-1.6234E-05" izz="9.8497E-05" />
|
| 230 |
+
</inertial>
|
| 231 |
+
<visual>
|
| 232 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 233 |
+
<geometry>
|
| 234 |
+
<mesh filename="meshes/arm_seg5.STL" />
|
| 235 |
+
</geometry>
|
| 236 |
+
<material name="">
|
| 237 |
+
<color rgba="1 1 1 1" />
|
| 238 |
+
</material>
|
| 239 |
+
</visual>
|
| 240 |
+
<collision name="arm_seg5-col-0">
|
| 241 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 242 |
+
<geometry>
|
| 243 |
+
<mesh filename="meshes/collision/arm_seg5-col-0.obj" scale="0.03267031899692348 0.05341618172776004 0.062067744942003664" />
|
| 244 |
+
</geometry>
|
| 245 |
+
</collision>
|
| 246 |
+
<collision name="arm_seg5-col-1">
|
| 247 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 248 |
+
<geometry>
|
| 249 |
+
<mesh filename="meshes/collision/arm_seg5-col-1.obj" scale="0.03108759582949762 0.05339162286567458 0.06013489541000714" />
|
| 250 |
+
</geometry>
|
| 251 |
+
</collision>
|
| 252 |
+
<collision name="arm_seg5-col-2">
|
| 253 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 254 |
+
<geometry>
|
| 255 |
+
<mesh filename="meshes/collision/arm_seg5-col-2.obj" scale="0.026463030090208256 0.05398080941709572 0.009442623231534872" />
|
| 256 |
+
</geometry>
|
| 257 |
+
</collision>
|
| 258 |
+
<collision name="arm_seg5-col-3">
|
| 259 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 260 |
+
<geometry>
|
| 261 |
+
<mesh filename="meshes/collision/arm_seg5-col-3.obj" scale="0.020451442789586823 0.020383818415420828 0.006348428104902714" />
|
| 262 |
+
</geometry>
|
| 263 |
+
</collision>
|
| 264 |
+
<collision name="arm_seg5-col-4">
|
| 265 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 266 |
+
<geometry>
|
| 267 |
+
<mesh filename="meshes/collision/arm_seg5-col-4.obj" scale="0.022935577704323466 0.05683231630476869 0.007030813027039659" />
|
| 268 |
+
</geometry>
|
| 269 |
+
</collision>
|
| 270 |
+
<collision name="arm_seg5-col-5">
|
| 271 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 272 |
+
<geometry>
|
| 273 |
+
<mesh filename="meshes/collision/arm_seg5-col-5.obj" scale="0.01401682873121526 0.1028933771255301 0.007057142614264794" />
|
| 274 |
+
</geometry>
|
| 275 |
+
</collision>
|
| 276 |
+
<collision name="arm_seg5-col-6">
|
| 277 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 278 |
+
<geometry>
|
| 279 |
+
<mesh filename="meshes/collision/arm_seg5-col-6.obj" scale="0.037028476344048794 0.01933930051346722 0.006349210197470062" />
|
| 280 |
+
</geometry>
|
| 281 |
+
</collision>
|
| 282 |
+
<collision name="arm_seg5-col-7">
|
| 283 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 284 |
+
<geometry>
|
| 285 |
+
<mesh filename="meshes/collision/arm_seg5-col-7.obj" scale="0.016509072060545634 0.024077259503684494 0.006349299305686895" />
|
| 286 |
+
</geometry>
|
| 287 |
+
</collision>
|
| 288 |
+
</link>
|
| 289 |
+
<joint name="arm_joint5" type="revolute">
|
| 290 |
+
<origin xyz="0 0 0.2776" rpy="-1.5708 0 3.1416" />
|
| 291 |
+
<parent link="arm_seg4" />
|
| 292 |
+
<child link="arm_seg5" />
|
| 293 |
+
<axis xyz="0 0 1" />
|
| 294 |
+
<limit lower="-1.6581" upper="1.6581" effort="7" velocity="25.133" />
|
| 295 |
+
</joint>
|
| 296 |
+
<link name="arm_seg6">
|
| 297 |
+
<inertial>
|
| 298 |
+
<origin xyz="2.406E-06 -9.4582E-08 -0.038796" rpy="0 0 0" />
|
| 299 |
+
<mass value="0.465" />
|
| 300 |
+
<inertia ixx="0.00011445" ixy="3.336E-10" ixz="1.4799E-08" iyy="0.00011239" iyz="-6.1057E-10" izz="7.4519E-05" />
|
| 301 |
+
</inertial>
|
| 302 |
+
<visual>
|
| 303 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 304 |
+
<geometry>
|
| 305 |
+
<mesh filename="meshes/arm_seg6.STL" />
|
| 306 |
+
</geometry>
|
| 307 |
+
<material name="">
|
| 308 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 309 |
+
</material>
|
| 310 |
+
</visual>
|
| 311 |
+
<collision name="arm_seg6-col-0">
|
| 312 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 313 |
+
<geometry>
|
| 314 |
+
<mesh filename="meshes/collision/arm_seg6-col-0.obj" scale="0.06175654977038431 0.060122202752699486 0.07610860215749395" />
|
| 315 |
+
</geometry>
|
| 316 |
+
</collision>
|
| 317 |
+
</link>
|
| 318 |
+
<joint name="arm_joint6" type="revolute">
|
| 319 |
+
<origin xyz="0 -0.1575 -0.00023266" rpy="1.5708 0 0" />
|
| 320 |
+
<parent link="arm_seg5" />
|
| 321 |
+
<child link="arm_seg6" />
|
| 322 |
+
<axis xyz="0 0 1" />
|
| 323 |
+
<limit lower="-2.8798" upper="2.8798" effort="7" velocity="25.133" />
|
| 324 |
+
</joint>
|
| 325 |
+
<link name="gripper1">
|
| 326 |
+
<inertial>
|
| 327 |
+
<origin xyz="0.022575 -0.01276 0.015787" rpy="0 0 0" />
|
| 328 |
+
<mass value="0.057" />
|
| 329 |
+
<inertia ixx="1.7676E-06" ixy="8.2594E-08" ixz="2.5995E-07" iyy="4.7258E-06" iyz="1.2291E-07" izz="5.2672E-06" />
|
| 330 |
+
</inertial>
|
| 331 |
+
<visual>
|
| 332 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 333 |
+
<geometry>
|
| 334 |
+
<mesh filename="meshes/gripper1.STL" />
|
| 335 |
+
</geometry>
|
| 336 |
+
<material name="">
|
| 337 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 338 |
+
</material>
|
| 339 |
+
</visual>
|
| 340 |
+
<collision name="gripper1-col-0">
|
| 341 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
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|
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|
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models/a1/{a1_gripper.usd → urdf/meshes/arm_seg1.STL}
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models/a1/urdf/meshes/collision/arm_seg6-col-0.obj
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