Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes.
See raw diff
- embodiments/aloha-agilex-1-tactile/config.yml +72 -0
- embodiments/aloha-agilex-1-tactile/meshes/base_arm.STL +0 -0
- embodiments/aloha-agilex-1-tactile/meshes/box1_Link.STL +0 -0
- embodiments/aloha-agilex-1-tactile/meshes/caster.stl +0 -0
- embodiments/aloha-agilex-1-tactile/meshes/caster_L.stl +0 -0
- embodiments/aloha-agilex-1-tactile/meshes/castor.dae +0 -0
- embodiments/aloha-agilex-1-tactile/meshes/castor_joint.dae +0 -0
- embodiments/aloha-agilex-1-tactile/meshes/link7.STL +0 -0
- embodiments/aloha-agilex-1-tactile/meshes/link8.STL +0 -0
- embodiments/aloha-agilex-1-tactile/meshes/right_cam_link.dae +0 -0
- embodiments/aloha-agilex-1-tactile/meshes/tracer_wheel.dae +0 -0
- embodiments/aloha-agilex-1-tactile/srdf/arx5_description_isaac.srdf +401 -0
- embodiments/aloha-agilex-1-tactile/urdf/arx5_description_isaac_old.urdf +1680 -0
- embodiments/aloha-agilex-1-tactile/urdf/arx5_description_isaac_v1.urdf +1901 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika.urdf +405 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper6/CMakeLists.txt +14 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper6/export.log +0 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper6/package.xml +21 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper9/CMakeLists.txt +14 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper9/config/joint_names_gripper9.yaml +1 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper9/export.log +0 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper9/launch/display.launch +20 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper9/launch/gazebo.launch +20 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper9/meshes/Center_rotate_Link.STL +0 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper9/package.xml +21 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper9/urdf/gripper9.csv +8 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper9/urdf/gripper9.urdf +416 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper_limit/CMakeLists.txt +14 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper_limit/config/joint_names_gripper_limit.yaml +1 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper_limit/export.log +0 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper_limit/launch/display.launch +20 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper_limit/launch/gazebo.launch +20 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper_limit/meshes/Center_rotate_Link.STL +0 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper_limit/package.xml +21 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper_limit/urdf/gripper_limit.csv +8 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper_limit/urdf/gripper_limit.urdf +395 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/CMakeLists.txt +14 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/meshes/Center_rotate_Link.STL +0 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/meshes/base_link.dae +0 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/meshes/link1.dae +0 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/meshes/link3.dae +0 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/meshes/link4.dae +0 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/meshes/link5.dae +0 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/meshes/link6.dae +0 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/meshes/link7.STL +0 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/meshes/link7.dae +0 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/meshes/link8.dae +0 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/package.xml +21 -0
- embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika_mplib.srdf +54 -0
- embodiments/ur5-robotic85-gripper/meshes/robotiq_85/collision/robotiq_85_finger_link.stl +0 -0
embodiments/aloha-agilex-1-tactile/config.yml
ADDED
|
@@ -0,0 +1,72 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
urdf_path: "./urdf/arx5_description_isaac.urdf"
|
| 2 |
+
srdf_path: "./srdf/arx5_description_isaac.srdf"
|
| 3 |
+
joint_stiffness: 1000
|
| 4 |
+
joint_damping: 200
|
| 5 |
+
gripper_stiffness: 1000
|
| 6 |
+
gripper_damping: 200
|
| 7 |
+
move_group: ["fl_link6","fr_link6"]
|
| 8 |
+
ee_joints: ["fl_joint6", "fr_joint6"]
|
| 9 |
+
arm_joints_name: [["fl_joint1", "fl_joint2", "fl_joint3", "fl_joint4", "fl_joint5", "fl_joint6"], ["fr_joint1", "fr_joint2", "fr_joint3", "fr_joint4", "fr_joint5", "fr_joint6"]]
|
| 10 |
+
gripper_name: [["fl_joint7", "fl_joint8"], ["fr_joint7", "fr_joint8"]]
|
| 11 |
+
gripper_bias: 0.12
|
| 12 |
+
gripper_scale: [-0.01, 0.045]
|
| 13 |
+
homestate: [[0,0,0,0,0,0], [0,0,0,0,0,0]]
|
| 14 |
+
delta_matrix: [[1,0,0],[0,1,0],[0,0,1]]
|
| 15 |
+
global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]]
|
| 16 |
+
robot_pose: [0, -0.65, 0, 0.707, 0, 0, 0.707]
|
| 17 |
+
dual_arm: True
|
| 18 |
+
planner: "mplib_screw"
|
| 19 |
+
static_camera_list:
|
| 20 |
+
- name: head_camera
|
| 21 |
+
type: D435
|
| 22 |
+
position:
|
| 23 |
+
- -0.032
|
| 24 |
+
- -0.45
|
| 25 |
+
- 1.35
|
| 26 |
+
forward:
|
| 27 |
+
- 0
|
| 28 |
+
- 0.6
|
| 29 |
+
- -0.8
|
| 30 |
+
left:
|
| 31 |
+
- -1
|
| 32 |
+
- 0
|
| 33 |
+
- 0
|
| 34 |
+
- name: front_camera
|
| 35 |
+
type: D435
|
| 36 |
+
position:
|
| 37 |
+
- 0
|
| 38 |
+
- -0.45
|
| 39 |
+
- 0.85
|
| 40 |
+
forward:
|
| 41 |
+
- 0
|
| 42 |
+
- 1
|
| 43 |
+
- -0.1
|
| 44 |
+
left:
|
| 45 |
+
- -1
|
| 46 |
+
- 0
|
| 47 |
+
- 0
|
| 48 |
+
vision_tactile_sensor_list:
|
| 49 |
+
- name: ll_tactile
|
| 50 |
+
type: gelsight_mini_e430
|
| 51 |
+
base_link: vtac_add_fl_Link7
|
| 52 |
+
disable_entities: ["vtac_add_fl_Link7"]
|
| 53 |
+
bias_mat: [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]
|
| 54 |
+
init_mat: [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]
|
| 55 |
+
- name: lr_tactile
|
| 56 |
+
type: gelsight_mini_e430
|
| 57 |
+
base_link: vtac_add_fl_Link8
|
| 58 |
+
disable_entities: ["vtac_add_fl_Link8"]
|
| 59 |
+
bias_mat: [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]
|
| 60 |
+
init_mat: [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]
|
| 61 |
+
- name: rl_tactile
|
| 62 |
+
type: gelsight_mini_e430
|
| 63 |
+
base_link: vtac_add_fr_Link7
|
| 64 |
+
disable_entities: ["vtac_add_fr_Link7"]
|
| 65 |
+
bias_mat: [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]
|
| 66 |
+
init_mat: [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]
|
| 67 |
+
- name: rr_tactile
|
| 68 |
+
type: gelsight_mini_e430
|
| 69 |
+
base_link: vtac_add_fr_Link8
|
| 70 |
+
disable_entities: ["vtac_add_fr_Link8"]
|
| 71 |
+
bias_mat: [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]
|
| 72 |
+
init_mat: [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]
|
embodiments/aloha-agilex-1-tactile/meshes/base_arm.STL
ADDED
|
Binary file (90.4 kB). View file
|
|
|
embodiments/aloha-agilex-1-tactile/meshes/box1_Link.STL
ADDED
|
Binary file (71.6 kB). View file
|
|
|
embodiments/aloha-agilex-1-tactile/meshes/caster.stl
ADDED
|
Binary file (50.1 kB). View file
|
|
|
embodiments/aloha-agilex-1-tactile/meshes/caster_L.stl
ADDED
|
Binary file (9.48 kB). View file
|
|
|
embodiments/aloha-agilex-1-tactile/meshes/castor.dae
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex-1-tactile/meshes/castor_joint.dae
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex-1-tactile/meshes/link7.STL
ADDED
|
Binary file (65.3 kB). View file
|
|
|
embodiments/aloha-agilex-1-tactile/meshes/link8.STL
ADDED
|
Binary file (65.3 kB). View file
|
|
|
embodiments/aloha-agilex-1-tactile/meshes/right_cam_link.dae
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex-1-tactile/meshes/tracer_wheel.dae
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex-1-tactile/srdf/arx5_description_isaac.srdf
ADDED
|
@@ -0,0 +1,401 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" encoding="UTF-8"?>
|
| 2 |
+
<!--This does not replace URDF, and is not an extension of URDF.
|
| 3 |
+
This is a format for representing semantic information about the robot structure.
|
| 4 |
+
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
|
| 5 |
+
-->
|
| 6 |
+
<robot name="arx5_description">
|
| 7 |
+
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
|
| 8 |
+
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
|
| 9 |
+
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
|
| 10 |
+
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
|
| 11 |
+
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
|
| 12 |
+
<group name="fl_arm">
|
| 13 |
+
<joint name="fl_base_joint"/>
|
| 14 |
+
<joint name="fl_joint1"/>
|
| 15 |
+
<joint name="fl_joint2"/>
|
| 16 |
+
<joint name="fl_joint3"/>
|
| 17 |
+
<joint name="fl_joint4"/>
|
| 18 |
+
<joint name="fl_joint5"/>
|
| 19 |
+
<joint name="fl_joint6"/>
|
| 20 |
+
<chain base_link="fl_base_link" tip_link="fl_link6"/>
|
| 21 |
+
</group>
|
| 22 |
+
<group name="fr_arm">
|
| 23 |
+
<joint name="fr_base_joint"/>
|
| 24 |
+
<joint name="fr_joint1"/>
|
| 25 |
+
<joint name="fr_joint2"/>
|
| 26 |
+
<joint name="fr_joint3"/>
|
| 27 |
+
<joint name="fr_joint4"/>
|
| 28 |
+
<joint name="fr_joint5"/>
|
| 29 |
+
<joint name="fr_joint6"/>
|
| 30 |
+
<chain base_link="fr_base_link" tip_link="fr_link6"/>
|
| 31 |
+
</group>
|
| 32 |
+
<!-- <group name="lr_arm">
|
| 33 |
+
<joint name="lr_base_joint"/>
|
| 34 |
+
<joint name="lr_joint1"/>
|
| 35 |
+
<joint name="lr_joint2"/>
|
| 36 |
+
<joint name="lr_joint3"/>
|
| 37 |
+
<joint name="lr_joint4"/>
|
| 38 |
+
<joint name="lr_joint5"/>
|
| 39 |
+
<joint name="lr_joint6"/>
|
| 40 |
+
<chain base_link="lr_base_link" tip_link="lr_link6"/>
|
| 41 |
+
</group> -->
|
| 42 |
+
<!-- <group name="rr_arm">
|
| 43 |
+
<joint name="rr_base_joint"/>
|
| 44 |
+
<joint name="rr_joint1"/>
|
| 45 |
+
<joint name="rr_joint2"/>
|
| 46 |
+
<joint name="rr_joint3"/>
|
| 47 |
+
<joint name="rr_joint4"/>
|
| 48 |
+
<joint name="rr_joint5"/>
|
| 49 |
+
<joint name="rr_joint6"/>
|
| 50 |
+
<chain base_link="rr_base_link" tip_link="rr_link6"/>
|
| 51 |
+
</group> -->
|
| 52 |
+
<group name="fl_gripper">
|
| 53 |
+
<joint name="fl_joint7"/>
|
| 54 |
+
<joint name="fl_joint8"/>
|
| 55 |
+
</group>
|
| 56 |
+
<group name="fr_gripper">
|
| 57 |
+
<joint name="fr_joint7"/>
|
| 58 |
+
<joint name="fr_joint8"/>
|
| 59 |
+
</group>
|
| 60 |
+
<!-- <group name="lr_gripper">
|
| 61 |
+
<joint name="lr_joint7"/>
|
| 62 |
+
<joint name="lr_joint8"/>
|
| 63 |
+
</group>
|
| 64 |
+
<group name="rr_gripper">
|
| 65 |
+
<joint name="rr_joint7"/>
|
| 66 |
+
<joint name="rr_joint8"/>
|
| 67 |
+
</group> -->
|
| 68 |
+
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
|
| 69 |
+
<group_state name="home" group="fl_arm"/>
|
| 70 |
+
<group_state name="home" group="fr_arm"/>
|
| 71 |
+
<!-- <group_state name="home" group="lr_arm">
|
| 72 |
+
<joint name="lr_joint1" value="0"/>
|
| 73 |
+
<joint name="lr_joint2" value="0"/>
|
| 74 |
+
<joint name="lr_joint3" value="0"/>
|
| 75 |
+
<joint name="lr_joint4" value="0"/>
|
| 76 |
+
<joint name="lr_joint5" value="0"/>
|
| 77 |
+
<joint name="lr_joint6" value="0"/>
|
| 78 |
+
</group_state> -->
|
| 79 |
+
<!-- <group_state name="home" group="rr_arm">
|
| 80 |
+
<joint name="rr_joint1" value="0"/>
|
| 81 |
+
<joint name="rr_joint2" value="0"/>
|
| 82 |
+
<joint name="rr_joint3" value="0"/>
|
| 83 |
+
<joint name="rr_joint4" value="0"/>
|
| 84 |
+
<joint name="rr_joint5" value="0"/>
|
| 85 |
+
<joint name="rr_joint6" value="0"/>
|
| 86 |
+
</group_state> -->
|
| 87 |
+
<group_state name="close" group="fl_gripper">
|
| 88 |
+
<joint name="fl_joint7" value="0"/>
|
| 89 |
+
<joint name="fl_joint8" value="0"/>
|
| 90 |
+
</group_state>
|
| 91 |
+
<group_state name="open" group="fl_gripper">
|
| 92 |
+
<joint name="fl_joint7" value="0.0476"/>
|
| 93 |
+
<joint name="fl_joint8" value="0.0476"/>
|
| 94 |
+
</group_state>
|
| 95 |
+
<group_state name="close" group="fr_gripper">
|
| 96 |
+
<joint name="fr_joint7" value="0"/>
|
| 97 |
+
<joint name="fr_joint8" value="0"/>
|
| 98 |
+
</group_state>
|
| 99 |
+
<group_state name="open" group="fr_gripper">
|
| 100 |
+
<joint name="fr_joint7" value="0.0476"/>
|
| 101 |
+
<joint name="fr_joint8" value="0.0476"/>
|
| 102 |
+
</group_state>
|
| 103 |
+
<!-- <group_state name="close" group="lr_gripper">
|
| 104 |
+
<joint name="lr_joint7" value="0"/>
|
| 105 |
+
<joint name="lr_joint8" value="0"/>
|
| 106 |
+
</group_state>
|
| 107 |
+
<group_state name="open" group="lr_gripper">
|
| 108 |
+
<joint name="lr_joint7" value="0.0476"/>
|
| 109 |
+
<joint name="lr_joint8" value="0.0476"/>
|
| 110 |
+
</group_state>
|
| 111 |
+
<group_state name="close" group="rr_gripper">
|
| 112 |
+
<joint name="rr_joint7" value="0"/>
|
| 113 |
+
<joint name="rr_joint8" value="0"/>
|
| 114 |
+
</group_state>
|
| 115 |
+
<group_state name="open" group="rr_gripper">
|
| 116 |
+
<joint name="rr_joint7" value="0.0476"/>
|
| 117 |
+
<joint name="rr_joint8" value="0.0476"/>
|
| 118 |
+
</group_state> -->
|
| 119 |
+
|
| 120 |
+
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
|
| 121 |
+
|
| 122 |
+
<disable_collisions link1="box" link2="box1_Link" reason="Default"/>
|
| 123 |
+
<disable_collisions link1="box" link2="box2_Link" reason="Never"/>
|
| 124 |
+
<disable_collisions link1="box" link2="fl_base_link" reason="Never"/>
|
| 125 |
+
<disable_collisions link1="box" link2="fl_link1" reason="Never"/>
|
| 126 |
+
<disable_collisions link1="box" link2="fl_link2" reason="Never"/>
|
| 127 |
+
<disable_collisions link1="box" link2="fl_link3" reason="Never"/>
|
| 128 |
+
<disable_collisions link1="box" link2="fl_link4" reason="Never"/>
|
| 129 |
+
<disable_collisions link1="box" link2="fl_link5" reason="Never"/>
|
| 130 |
+
<disable_collisions link1="box" link2="fl_link6" reason="Never"/>
|
| 131 |
+
<disable_collisions link1="box" link2="fl_link7" reason="Never"/>
|
| 132 |
+
<disable_collisions link1="box" link2="left_camera" reason="Never"/>
|
| 133 |
+
<disable_collisions link1="box" link2="fr_base_link" reason="Never"/>
|
| 134 |
+
<disable_collisions link1="box" link2="fr_link1" reason="Never"/>
|
| 135 |
+
<disable_collisions link1="box" link2="fr_link2" reason="Never"/>
|
| 136 |
+
<disable_collisions link1="box" link2="fr_link3" reason="Never"/>
|
| 137 |
+
<disable_collisions link1="box" link2="fr_link4" reason="Never"/>
|
| 138 |
+
<disable_collisions link1="box" link2="fr_link5" reason="Never"/>
|
| 139 |
+
<disable_collisions link1="box" link2="fr_link6" reason="Never"/>
|
| 140 |
+
<disable_collisions link1="box" link2="fr_link7" reason="Never"/>
|
| 141 |
+
<disable_collisions link1="box" link2="fr_link8" reason="Never"/>
|
| 142 |
+
|
| 143 |
+
<disable_collisions link1="box" link2="world" reason="Adjacent"/>
|
| 144 |
+
<disable_collisions link1="box1_Link" link2="box2_Link" reason="Adjacent"/>
|
| 145 |
+
<disable_collisions link1="box1_Link" link2="fl_base_link" reason="Never"/>
|
| 146 |
+
<disable_collisions link1="box1_Link" link2="fl_link1" reason="Never"/>
|
| 147 |
+
<disable_collisions link1="box1_Link" link2="fl_link2" reason="Never"/>
|
| 148 |
+
<disable_collisions link1="box1_Link" link2="fl_link3" reason="Never"/>
|
| 149 |
+
<disable_collisions link1="box1_Link" link2="fl_link4" reason="Never"/>
|
| 150 |
+
<disable_collisions link1="box1_Link" link2="fl_link5" reason="Never"/>
|
| 151 |
+
<disable_collisions link1="box1_Link" link2="fl_link6" reason="Never"/>
|
| 152 |
+
<disable_collisions link1="box1_Link" link2="fl_link7" reason="Never"/>
|
| 153 |
+
<disable_collisions link1="box1_Link" link2="left_camera" reason="Never"/>
|
| 154 |
+
<disable_collisions link1="box1_Link" link2="fl_link8" reason="Never"/>
|
| 155 |
+
<disable_collisions link1="box1_Link" link2="fr_base_link" reason="Never"/>
|
| 156 |
+
<disable_collisions link1="box1_Link" link2="fr_link1" reason="Never"/>
|
| 157 |
+
<disable_collisions link1="box1_Link" link2="fr_link2" reason="Never"/>
|
| 158 |
+
<disable_collisions link1="box1_Link" link2="fr_link3" reason="Never"/>
|
| 159 |
+
<disable_collisions link1="box1_Link" link2="fr_link4" reason="Never"/>
|
| 160 |
+
<disable_collisions link1="box1_Link" link2="fr_link5" reason="Never"/>
|
| 161 |
+
<disable_collisions link1="box1_Link" link2="fr_link6" reason="Never"/>
|
| 162 |
+
<disable_collisions link1="box1_Link" link2="fr_link7" reason="Never"/>
|
| 163 |
+
<disable_collisions link1="box1_Link" link2="fr_link8" reason="Never"/>
|
| 164 |
+
|
| 165 |
+
<disable_collisions link1="box1_Link" link2="world" reason="Adjacent"/>
|
| 166 |
+
<disable_collisions link1="box2_Link" link2="fl_base_link" reason="Never"/>
|
| 167 |
+
<disable_collisions link1="box2_Link" link2="fl_link1" reason="Never"/>
|
| 168 |
+
<disable_collisions link1="box2_Link" link2="fr_base_link" reason="Never"/>
|
| 169 |
+
<disable_collisions link1="box2_Link" link2="fr_link1" reason="Never"/>
|
| 170 |
+
|
| 171 |
+
<disable_collisions link1="box2_Link" link2="world" reason="Never"/>
|
| 172 |
+
<disable_collisions link1="fl_base_link" link2="fl_link1" reason="Adjacent"/>
|
| 173 |
+
<disable_collisions link1="fl_base_link" link2="fr_base_link" reason="Never"/>
|
| 174 |
+
<disable_collisions link1="fl_base_link" link2="fr_link1" reason="Never"/>
|
| 175 |
+
<disable_collisions link1="fl_base_link" link2="fr_link2" reason="Never"/>
|
| 176 |
+
<disable_collisions link1="fl_base_link" link2="fr_link3" reason="Never"/>
|
| 177 |
+
|
| 178 |
+
<disable_collisions link1="fl_base_link" link2="world" reason="Adjacent"/>
|
| 179 |
+
<disable_collisions link1="fl_link1" link2="fl_link2" reason="Adjacent"/>
|
| 180 |
+
<disable_collisions link1="fl_link1" link2="fr_base_link" reason="Never"/>
|
| 181 |
+
<disable_collisions link1="fl_link1" link2="fr_link1" reason="Never"/>
|
| 182 |
+
<disable_collisions link1="fl_link1" link2="fr_link2" reason="Never"/>
|
| 183 |
+
<disable_collisions link1="fl_link1" link2="fr_link3" reason="Never"/>
|
| 184 |
+
<disable_collisions link1="fl_link1" link2="fr_link6" reason="Never"/>
|
| 185 |
+
|
| 186 |
+
<disable_collisions link1="fl_link1" link2="world" reason="Never"/>
|
| 187 |
+
<disable_collisions link1="fl_link2" link2="fl_link3" reason="Adjacent"/>
|
| 188 |
+
<disable_collisions link1="fl_link2" link2="fr_base_link" reason="Never"/>
|
| 189 |
+
<disable_collisions link1="fl_link2" link2="fr_link1" reason="Never"/>
|
| 190 |
+
<disable_collisions link1="fl_link2" link2="fr_link2" reason="Never"/>
|
| 191 |
+
|
| 192 |
+
<disable_collisions link1="fl_link2" link2="world" reason="Never"/>
|
| 193 |
+
<disable_collisions link1="fl_link3" link2="fl_link4" reason="Adjacent"/>
|
| 194 |
+
<disable_collisions link1="fl_link3" link2="fr_base_link" reason="Never"/>
|
| 195 |
+
<disable_collisions link1="fl_link3" link2="fr_link1" reason="Never"/>
|
| 196 |
+
<!-- <disable_collisions link1="fl_link3" link2="rr_base_link" reason="Never"/>
|
| 197 |
+
<disable_collisions link1="fl_link3" link2="rr_link1" reason="Never"/>
|
| 198 |
+
<disable_collisions link1="fl_link3" link2="rr_link2" reason="Never"/>
|
| 199 |
+
<disable_collisions link1="fl_link3" link2="rr_link7" reason="Never"/>
|
| 200 |
+
<disable_collisions link1="fl_link3" link2="rr_link8" reason="Never"/> -->
|
| 201 |
+
<disable_collisions link1="fl_link3" link2="world" reason="Never"/>
|
| 202 |
+
<disable_collisions link1="fl_link4" link2="fl_link5" reason="Adjacent"/>
|
| 203 |
+
<disable_collisions link1="fl_link4" link2="fl_link7" reason="Never"/>
|
| 204 |
+
<disable_collisions link1="fl_link4" link2="left_camera" reason="Never"/>
|
| 205 |
+
<disable_collisions link1="fl_link4" link2="fl_link8" reason="Never"/>
|
| 206 |
+
<!-- <disable_collisions link1="fl_link4" link2="rr_base_link" reason="Never"/>
|
| 207 |
+
<disable_collisions link1="fl_link4" link2="rr_link1" reason="Never"/>
|
| 208 |
+
<disable_collisions link1="fl_link4" link2="rr_link2" reason="Never"/>
|
| 209 |
+
<disable_collisions link1="fl_link4" link2="rr_link6" reason="Never"/>
|
| 210 |
+
<disable_collisions link1="fl_link4" link2="rr_link7" reason="Never"/>
|
| 211 |
+
<disable_collisions link1="fl_link4" link2="rr_link8" reason="Never"/> -->
|
| 212 |
+
<disable_collisions link1="fl_link4" link2="world" reason="Never"/>
|
| 213 |
+
<disable_collisions link1="fl_link5" link2="fl_link6" reason="Adjacent"/>
|
| 214 |
+
<disable_collisions link1="fl_link5" link2="fl_link7" reason="Never"/>
|
| 215 |
+
<disable_collisions link1="fl_link5" link2="left_camera" reason="Never"/>
|
| 216 |
+
<disable_collisions link1="fl_link5" link2="fl_link8" reason="Never"/>
|
| 217 |
+
<!-- <disable_collisions link1="fl_link5" link2="rr_base_link" reason="Never"/>
|
| 218 |
+
<disable_collisions link1="fl_link5" link2="rr_link1" reason="Never"/>
|
| 219 |
+
<disable_collisions link1="fl_link5" link2="rr_link2" reason="Never"/>
|
| 220 |
+
<disable_collisions link1="fl_link5" link2="rr_link4" reason="Never"/>
|
| 221 |
+
<disable_collisions link1="fl_link5" link2="rr_link7" reason="Never"/> -->
|
| 222 |
+
<disable_collisions link1="fl_link5" link2="world" reason="Never"/>
|
| 223 |
+
<disable_collisions link1="fl_link6" link2="fl_link7" reason="Adjacent"/>
|
| 224 |
+
<disable_collisions link1="fl_link6" link2="left_camera" reason="Adjacent"/>
|
| 225 |
+
<disable_collisions link1="fl_link6" link2="fl_link8" reason="Adjacent"/>
|
| 226 |
+
<disable_collisions link1="fl_link6" link2="left_camera" reason="Adjacent"/>
|
| 227 |
+
<!-- <disable_collisions link1="fl_link6" link2="rr_base_link" reason="Never"/>
|
| 228 |
+
<disable_collisions link1="fl_link6" link2="rr_link1" reason="Never"/>
|
| 229 |
+
<disable_collisions link1="fl_link6" link2="rr_link2" reason="Never"/>
|
| 230 |
+
<disable_collisions link1="fl_link6" link2="rr_link4" reason="Never"/>
|
| 231 |
+
<disable_collisions link1="fl_link6" link2="rr_link5" reason="Never"/>
|
| 232 |
+
<disable_collisions link1="fl_link6" link2="rr_link6" reason="Never"/>
|
| 233 |
+
<disable_collisions link1="fl_link6" link2="rr_link7" reason="Never"/> -->
|
| 234 |
+
<disable_collisions link1="fl_link6" link2="world" reason="Never"/>
|
| 235 |
+
<disable_collisions link1="fl_link7" link2="fl_link8" reason="Never"/>
|
| 236 |
+
<disable_collisions link1="fl_link7" link2="lef_camera" reason="Never"/>
|
| 237 |
+
<!-- <disable_collisions link1="fl_link7" link2="rr_base_link" reason="Never"/>
|
| 238 |
+
<disable_collisions link1="fl_link7" link2="rr_link1" reason="Never"/>
|
| 239 |
+
<disable_collisions link1="fl_link7" link2="rr_link2" reason="Never"/>
|
| 240 |
+
<disable_collisions link1="fl_link7" link2="rr_link4" reason="Never"/>
|
| 241 |
+
<disable_collisions link1="fl_link7" link2="rr_link5" reason="Never"/>
|
| 242 |
+
<disable_collisions link1="fl_link7" link2="rr_link6" reason="Never"/> -->
|
| 243 |
+
<disable_collisions link1="fl_link7" link2="world" reason="Never"/>
|
| 244 |
+
<disable_collisions link1="fl_link8" link2="fr_link8" reason="Never"/>
|
| 245 |
+
<!-- <disable_collisions link1="fl_link8" link2="rr_base_link" reason="Never"/>
|
| 246 |
+
<disable_collisions link1="fl_link8" link2="rr_link1" reason="Never"/>
|
| 247 |
+
<disable_collisions link1="fl_link8" link2="rr_link2" reason="Never"/>
|
| 248 |
+
<disable_collisions link1="fl_link8" link2="rr_link3" reason="Never"/>
|
| 249 |
+
<disable_collisions link1="fl_link8" link2="rr_link4" reason="Never"/>
|
| 250 |
+
<disable_collisions link1="fl_link8" link2="rr_link5" reason="Never"/>
|
| 251 |
+
<disable_collisions link1="fl_link8" link2="rr_link6" reason="Never"/>
|
| 252 |
+
<disable_collisions link1="fl_link8" link2="rr_link7" reason="Never"/>
|
| 253 |
+
<disable_collisions link1="fl_link8" link2="rr_link8" reason="Never"/> -->
|
| 254 |
+
<disable_collisions link1="fl_link8" link2="world" reason="Never"/>
|
| 255 |
+
<disable_collisions link1="fr_base_link" link2="fr_link1" reason="Adjacent"/>
|
| 256 |
+
<!-- <disable_collisions link1="fr_base_link" link2="lr_base_link" reason="Never"/>
|
| 257 |
+
<disable_collisions link1="fr_base_link" link2="lr_link1" reason="Never"/>
|
| 258 |
+
<disable_collisions link1="fr_base_link" link2="lr_link2" reason="Never"/>
|
| 259 |
+
<disable_collisions link1="fr_base_link" link2="lr_link3" reason="Never"/>
|
| 260 |
+
<disable_collisions link1="fr_base_link" link2="lr_link4" reason="Never"/>
|
| 261 |
+
<disable_collisions link1="fr_base_link" link2="lr_link5" reason="Never"/>
|
| 262 |
+
<disable_collisions link1="fr_base_link" link2="lr_link6" reason="Never"/>
|
| 263 |
+
<disable_collisions link1="fr_base_link" link2="lr_link7" reason="Never"/>
|
| 264 |
+
<disable_collisions link1="fr_base_link" link2="lr_link8" reason="Never"/> -->
|
| 265 |
+
<!-- <disable_collisions link1="fr_base_link" link2="rr_base_link" reason="Never"/>
|
| 266 |
+
<disable_collisions link1="fr_base_link" link2="rr_link1" reason="Never"/>
|
| 267 |
+
<disable_collisions link1="fr_base_link" link2="rr_link2" reason="Never"/>
|
| 268 |
+
<disable_collisions link1="fr_base_link" link2="rr_link3" reason="Never"/> -->
|
| 269 |
+
<disable_collisions link1="fr_base_link" link2="world" reason="Adjacent"/>
|
| 270 |
+
<disable_collisions link1="fr_link1" link2="fr_link2" reason="Adjacent"/>
|
| 271 |
+
<!-- <disable_collisions link1="fr_link1" link2="lr_base_link" reason="Never"/>
|
| 272 |
+
<disable_collisions link1="fr_link1" link2="lr_link1" reason="Never"/>
|
| 273 |
+
<disable_collisions link1="fr_link1" link2="lr_link2" reason="Never"/>
|
| 274 |
+
<disable_collisions link1="fr_link1" link2="lr_link3" reason="Never"/>
|
| 275 |
+
<disable_collisions link1="fr_link1" link2="lr_link4" reason="Never"/>
|
| 276 |
+
<disable_collisions link1="fr_link1" link2="lr_link5" reason="Never"/>
|
| 277 |
+
<disable_collisions link1="fr_link1" link2="lr_link6" reason="Never"/>
|
| 278 |
+
<disable_collisions link1="fr_link1" link2="lr_link7" reason="Never"/>
|
| 279 |
+
<disable_collisions link1="fr_link1" link2="lr_link8" reason="Never"/> -->
|
| 280 |
+
<disable_collisions link1="fr_link1" link2="rr_base_link" reason="Never"/>
|
| 281 |
+
<disable_collisions link1="fr_link1" link2="rr_link1" reason="Never"/>
|
| 282 |
+
<disable_collisions link1="fr_link1" link2="rr_link2" reason="Never"/>
|
| 283 |
+
<disable_collisions link1="fr_link1" link2="world" reason="Never"/>
|
| 284 |
+
<disable_collisions link1="fr_link2" link2="fr_link3" reason="Adjacent"/>
|
| 285 |
+
<!-- <disable_collisions link1="fr_link2" link2="lr_base_link" reason="Never"/>
|
| 286 |
+
<disable_collisions link1="fr_link2" link2="lr_link1" reason="Never"/>
|
| 287 |
+
<disable_collisions link1="fr_link2" link2="lr_link2" reason="Never"/>
|
| 288 |
+
<disable_collisions link1="fr_link2" link2="lr_link3" reason="Never"/>
|
| 289 |
+
<disable_collisions link1="fr_link2" link2="lr_link4" reason="Never"/>
|
| 290 |
+
<disable_collisions link1="fr_link2" link2="lr_link5" reason="Never"/>
|
| 291 |
+
<disable_collisions link1="fr_link2" link2="lr_link6" reason="Never"/>
|
| 292 |
+
<disable_collisions link1="fr_link2" link2="lr_link7" reason="Never"/>
|
| 293 |
+
<disable_collisions link1="fr_link2" link2="lr_link8" reason="Never"/> -->
|
| 294 |
+
<!-- <disable_collisions link1="fr_link2" link2="rr_base_link" reason="Never"/>
|
| 295 |
+
<disable_collisions link1="fr_link2" link2="rr_link1" reason="Never"/> -->
|
| 296 |
+
<disable_collisions link1="fr_link2" link2="world" reason="Never"/>
|
| 297 |
+
<disable_collisions link1="fr_link3" link2="fr_link4" reason="Adjacent"/>
|
| 298 |
+
<!-- <disable_collisions link1="fr_link3" link2="lr_base_link" reason="Never"/>
|
| 299 |
+
<disable_collisions link1="fr_link3" link2="lr_link1" reason="Never"/>
|
| 300 |
+
<disable_collisions link1="fr_link3" link2="lr_link2" reason="Never"/>
|
| 301 |
+
<disable_collisions link1="fr_link3" link2="lr_link7" reason="Never"/> -->
|
| 302 |
+
<disable_collisions link1="fr_link3" link2="world" reason="Never"/>
|
| 303 |
+
<disable_collisions link1="fr_link4" link2="fr_link5" reason="Adjacent"/>
|
| 304 |
+
<disable_collisions link1="fr_link4" link2="fr_link7" reason="Never"/>
|
| 305 |
+
<disable_collisions link1="fr_link4" link2="fr_link8" reason="Never"/>
|
| 306 |
+
<!-- <disable_collisions link1="fr_link4" link2="lr_base_link" reason="Never"/>
|
| 307 |
+
<disable_collisions link1="fr_link4" link2="lr_link1" reason="Never"/>
|
| 308 |
+
<disable_collisions link1="fr_link4" link2="lr_link2" reason="Never"/>
|
| 309 |
+
<disable_collisions link1="fr_link4" link2="lr_link7" reason="Never"/>
|
| 310 |
+
<disable_collisions link1="fr_link4" link2="lr_link8" reason="Never"/> -->
|
| 311 |
+
<disable_collisions link1="fr_link4" link2="world" reason="Never"/>
|
| 312 |
+
<disable_collisions link1="fr_link5" link2="fr_link6" reason="Adjacent"/>
|
| 313 |
+
<disable_collisions link1="fr_link5" link2="fr_link7" reason="Never"/>
|
| 314 |
+
<disable_collisions link1="fr_link5" link2="fr_link8" reason="Never"/>
|
| 315 |
+
<!-- <disable_collisions link1="fr_link5" link2="lr_base_link" reason="Never"/>
|
| 316 |
+
<disable_collisions link1="fr_link5" link2="lr_link1" reason="Never"/>
|
| 317 |
+
<disable_collisions link1="fr_link5" link2="lr_link2" reason="Never"/>
|
| 318 |
+
<disable_collisions link1="fr_link5" link2="lr_link3" reason="Never"/>
|
| 319 |
+
<disable_collisions link1="fr_link5" link2="lr_link8" reason="Never"/> -->
|
| 320 |
+
<disable_collisions link1="fr_link5" link2="world" reason="Never"/>
|
| 321 |
+
<disable_collisions link1="fr_link6" link2="fr_link7" reason="Adjacent"/>
|
| 322 |
+
<disable_collisions link1="fr_link6" link2="fr_link8" reason="Adjacent"/>
|
| 323 |
+
<!-- <disable_collisions link1="fr_link6" link2="lr_base_link" reason="Never"/>
|
| 324 |
+
<disable_collisions link1="fr_link6" link2="lr_link1" reason="Never"/>
|
| 325 |
+
<disable_collisions link1="fr_link6" link2="lr_link2" reason="Never"/> -->
|
| 326 |
+
<disable_collisions link1="fr_link6" link2="world" reason="Never"/>
|
| 327 |
+
<disable_collisions link1="fr_link7" link2="fr_link8" reason="Never"/>
|
| 328 |
+
<!-- <disable_collisions link1="fr_link7" link2="lr_base_link" reason="Never"/>
|
| 329 |
+
<disable_collisions link1="fr_link7" link2="lr_link1" reason="Never"/>
|
| 330 |
+
<disable_collisions link1="fr_link7" link2="lr_link8" reason="Never"/> -->
|
| 331 |
+
<disable_collisions link1="fr_link7" link2="world" reason="Never"/>
|
| 332 |
+
<!-- <disable_collisions link1="fr_link8" link2="lr_base_link" reason="Never"/>
|
| 333 |
+
<disable_collisions link1="fr_link8" link2="lr_link1" reason="Never"/>
|
| 334 |
+
<disable_collisions link1="fr_link8" link2="lr_link2" reason="Never"/>
|
| 335 |
+
<disable_collisions link1="fr_link8" link2="lr_link8" reason="Never"/> -->
|
| 336 |
+
<disable_collisions link1="fr_link8" link2="world" reason="Never"/>
|
| 337 |
+
<!-- <disable_collisions link1="lr_base_link" link2="lr_link1" reason="Adjacent"/> -->
|
| 338 |
+
<!-- <disable_collisions link1="lr_base_link" link2="rr_base_link" reason="Never"/>
|
| 339 |
+
<disable_collisions link1="lr_base_link" link2="rr_link1" reason="Never"/>
|
| 340 |
+
<disable_collisions link1="lr_base_link" link2="rr_link2" reason="Never"/>
|
| 341 |
+
<disable_collisions link1="lr_base_link" link2="rr_link3" reason="Never"/>
|
| 342 |
+
<disable_collisions link1="lr_base_link" link2="rr_link7" reason="Never"/>
|
| 343 |
+
<disable_collisions link1="lr_base_link" link2="rr_link8" reason="Never"/>
|
| 344 |
+
<disable_collisions link1="lr_base_link" link2="world" reason="Adjacent"/> -->
|
| 345 |
+
<!-- <disable_collisions link1="lr_link1" link2="lr_link2" reason="Adjacent"/> -->
|
| 346 |
+
<!-- <disable_collisions link1="lr_link1" link2="rr_base_link" reason="Never"/>
|
| 347 |
+
<disable_collisions link1="lr_link1" link2="rr_link1" reason="Never"/>
|
| 348 |
+
<disable_collisions link1="lr_link1" link2="rr_link2" reason="Never"/>
|
| 349 |
+
<disable_collisions link1="lr_link1" link2="rr_link3" reason="Never"/>
|
| 350 |
+
<disable_collisions link1="lr_link1" link2="rr_link7" reason="Never"/>
|
| 351 |
+
<disable_collisions link1="lr_link1" link2="world" reason="Never"/>
|
| 352 |
+
<disable_collisions link1="lr_link2" link2="lr_link3" reason="Adjacent"/>
|
| 353 |
+
<disable_collisions link1="lr_link2" link2="rr_base_link" reason="Never"/>
|
| 354 |
+
<disable_collisions link1="lr_link2" link2="rr_link1" reason="Never"/>
|
| 355 |
+
<disable_collisions link1="lr_link2" link2="rr_link2" reason="Never"/>
|
| 356 |
+
<disable_collisions link1="lr_link2" link2="world" reason="Never"/>
|
| 357 |
+
<disable_collisions link1="lr_link3" link2="lr_link4" reason="Adjacent"/>
|
| 358 |
+
<disable_collisions link1="lr_link3" link2="rr_base_link" reason="Never"/>
|
| 359 |
+
<disable_collisions link1="lr_link3" link2="rr_link1" reason="Never"/>
|
| 360 |
+
<disable_collisions link1="lr_link3" link2="world" reason="Never"/>
|
| 361 |
+
<disable_collisions link1="lr_link4" link2="lr_link5" reason="Adjacent"/>
|
| 362 |
+
<disable_collisions link1="lr_link4" link2="lr_link7" reason="Never"/>
|
| 363 |
+
<disable_collisions link1="lr_link4" link2="lr_link8" reason="Never"/>
|
| 364 |
+
<disable_collisions link1="lr_link4" link2="world" reason="Never"/>
|
| 365 |
+
<disable_collisions link1="lr_link5" link2="lr_link6" reason="Adjacent"/>
|
| 366 |
+
<disable_collisions link1="lr_link5" link2="lr_link7" reason="Never"/>
|
| 367 |
+
<disable_collisions link1="lr_link5" link2="lr_link8" reason="Never"/>
|
| 368 |
+
<disable_collisions link1="lr_link5" link2="world" reason="Never"/>
|
| 369 |
+
<disable_collisions link1="lr_link6" link2="lr_link7" reason="Adjacent"/>
|
| 370 |
+
<disable_collisions link1="lr_link6" link2="lr_link8" reason="Adjacent"/>
|
| 371 |
+
<disable_collisions link1="lr_link6" link2="rr_link7" reason="Never"/>
|
| 372 |
+
<disable_collisions link1="lr_link6" link2="world" reason="Never"/>
|
| 373 |
+
<disable_collisions link1="lr_link7" link2="lr_link8" reason="Never"/>
|
| 374 |
+
<disable_collisions link1="lr_link7" link2="rr_base_link" reason="Never"/>
|
| 375 |
+
<disable_collisions link1="lr_link7" link2="rr_link1" reason="Never"/>
|
| 376 |
+
<disable_collisions link1="lr_link7" link2="rr_link7" reason="Never"/>
|
| 377 |
+
<disable_collisions link1="lr_link7" link2="world" reason="Never"/>
|
| 378 |
+
<disable_collisions link1="lr_link8" link2="world" reason="Never"/>
|
| 379 |
+
<disable_collisions link1="rr_base_link" link2="rr_link1" reason="Adjacent"/>
|
| 380 |
+
<disable_collisions link1="rr_base_link" link2="world" reason="Adjacent"/>
|
| 381 |
+
<disable_collisions link1="rr_link1" link2="rr_link2" reason="Adjacent"/>
|
| 382 |
+
<disable_collisions link1="rr_link1" link2="world" reason="Never"/>
|
| 383 |
+
<disable_collisions link1="rr_link2" link2="rr_link3" reason="Adjacent"/>
|
| 384 |
+
<disable_collisions link1="rr_link2" link2="world" reason="Never"/>
|
| 385 |
+
<disable_collisions link1="rr_link3" link2="rr_link4" reason="Adjacent"/>
|
| 386 |
+
<disable_collisions link1="rr_link3" link2="world" reason="Never"/>
|
| 387 |
+
<disable_collisions link1="rr_link4" link2="rr_link5" reason="Adjacent"/>
|
| 388 |
+
<disable_collisions link1="rr_link4" link2="rr_link7" reason="Never"/>
|
| 389 |
+
<disable_collisions link1="rr_link4" link2="rr_link8" reason="Never"/>
|
| 390 |
+
<disable_collisions link1="rr_link4" link2="world" reason="Never"/>
|
| 391 |
+
<disable_collisions link1="rr_link5" link2="rr_link6" reason="Adjacent"/>
|
| 392 |
+
<disable_collisions link1="rr_link5" link2="rr_link7" reason="Never"/>
|
| 393 |
+
<disable_collisions link1="rr_link5" link2="rr_link8" reason="Never"/>
|
| 394 |
+
<disable_collisions link1="rr_link5" link2="world" reason="Never"/>
|
| 395 |
+
<disable_collisions link1="rr_link6" link2="rr_link7" reason="Adjacent"/>
|
| 396 |
+
<disable_collisions link1="rr_link6" link2="rr_link8" reason="Adjacent"/>
|
| 397 |
+
<disable_collisions link1="rr_link6" link2="world" reason="Never"/>
|
| 398 |
+
<disable_collisions link1="rr_link7" link2="rr_link8" reason="Never"/>
|
| 399 |
+
<disable_collisions link1="rr_link7" link2="world" reason="Never"/>
|
| 400 |
+
<disable_collisions link1="rr_link8" link2="world" reason="Never"/> -->
|
| 401 |
+
</robot>
|
embodiments/aloha-agilex-1-tactile/urdf/arx5_description_isaac_old.urdf
ADDED
|
@@ -0,0 +1,1680 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8" ?>
|
| 2 |
+
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
| 3 |
+
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
|
| 4 |
+
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
| 5 |
+
<robot name="arx5_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
| 6 |
+
<!-- <link name="footprint"/> -->
|
| 7 |
+
|
| 8 |
+
<!-- <xacro:include filename="$(find tracer_description)/urdf/tracer_v1.xacro"/> -->
|
| 9 |
+
<!-- <xacro:include filename="$(find realsense2_description)/urdf/_d435.xacro"/> -->
|
| 10 |
+
|
| 11 |
+
<link name="footprint">
|
| 12 |
+
</link>
|
| 13 |
+
|
| 14 |
+
<!-- tracer base -->
|
| 15 |
+
<link name="base_link">
|
| 16 |
+
<visual>
|
| 17 |
+
<origin xyz="0 0 0" rpy="1.57 0 0"/>
|
| 18 |
+
<!--<origin xyz="0 0 0" rpy="0 0 0"/>-->
|
| 19 |
+
<geometry>
|
| 20 |
+
<!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
|
| 21 |
+
<mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.dae" />
|
| 22 |
+
<!--<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>-->
|
| 23 |
+
</geometry>
|
| 24 |
+
</visual>
|
| 25 |
+
<collision>
|
| 26 |
+
<!--origin
|
| 27 |
+
xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
|
| 28 |
+
rpy="0 0 0" /-->
|
| 29 |
+
<origin xyz="0 0 0" rpy="1.57 0 0"/>
|
| 30 |
+
<geometry>
|
| 31 |
+
<!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
|
| 32 |
+
<!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.STL" /> -->
|
| 33 |
+
<box size="0.35 0.1 0.35"/>
|
| 34 |
+
</geometry>
|
| 35 |
+
</collision>
|
| 36 |
+
</link>
|
| 37 |
+
<link name="inertial_link">
|
| 38 |
+
<inertial>
|
| 39 |
+
<!--mass value="44.3898489950015" /-->
|
| 40 |
+
<mass value="132.3898489950015" />
|
| 41 |
+
<!-- <mass value="50" /> -->
|
| 42 |
+
<!-- <origin xyz="-0.00065 -0.085 0.062" />
|
| 43 |
+
<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
|
| 44 |
+
<origin xyz="0.015 0.0231316650320557 0" />
|
| 45 |
+
<!--<origin
|
| 46 |
+
xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
|
| 47 |
+
rpy="0 0 0" />-->
|
| 48 |
+
<inertia ixx="0.185196122711036"
|
| 49 |
+
ixy="4.30144213829512E-08"
|
| 50 |
+
ixz="5.81037523686401E-08"
|
| 51 |
+
iyy="0.364893736238929"
|
| 52 |
+
iyz="-0.000386720198091934"
|
| 53 |
+
izz="0.223868521722778" />
|
| 54 |
+
<!--<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />-->
|
| 55 |
+
</inertial>
|
| 56 |
+
</link>
|
| 57 |
+
|
| 58 |
+
<joint name="inertial_joint" type="fixed">
|
| 59 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 60 |
+
<parent link="base_link" />
|
| 61 |
+
<child link="inertial_link" />
|
| 62 |
+
</joint>
|
| 63 |
+
|
| 64 |
+
<link name="right_wheel_link">
|
| 65 |
+
<inertial>
|
| 66 |
+
<mass value="6" />
|
| 67 |
+
<origin xyz="0 0 0" />
|
| 68 |
+
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
| 69 |
+
</inertial>
|
| 70 |
+
<visual>
|
| 71 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 72 |
+
<geometry>
|
| 73 |
+
<mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
|
| 74 |
+
</geometry>
|
| 75 |
+
</visual>
|
| 76 |
+
<collision>
|
| 77 |
+
<origin
|
| 78 |
+
xyz="0 0 0"
|
| 79 |
+
rpy="1.57 0 0" />
|
| 80 |
+
<geometry>
|
| 81 |
+
<!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
|
| 82 |
+
<cylinder radius="0.05" length="0.05" />
|
| 83 |
+
</geometry>
|
| 84 |
+
</collision>
|
| 85 |
+
</link>
|
| 86 |
+
|
| 87 |
+
<joint name="right_wheel" type="continuous">
|
| 88 |
+
<parent link="base_link"/>
|
| 89 |
+
<child link="right_wheel_link"/>
|
| 90 |
+
<origin xyz="0 -0.17 -0.082" rpy="0 0 0" />
|
| 91 |
+
<axis xyz="0 1 0" rpy="0 0 0" />
|
| 92 |
+
</joint>
|
| 93 |
+
|
| 94 |
+
<link name="left_wheel_link">
|
| 95 |
+
<inertial>
|
| 96 |
+
<mass value="6" />
|
| 97 |
+
<origin xyz="0 0 0" />
|
| 98 |
+
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
| 99 |
+
</inertial>
|
| 100 |
+
<visual>
|
| 101 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 102 |
+
<geometry>
|
| 103 |
+
<mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
|
| 104 |
+
</geometry>
|
| 105 |
+
</visual>
|
| 106 |
+
<collision>
|
| 107 |
+
<origin
|
| 108 |
+
xyz="0 0 0"
|
| 109 |
+
rpy="1.57 0 0" />
|
| 110 |
+
<geometry>
|
| 111 |
+
<!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
|
| 112 |
+
<cylinder radius="0.05" length="0.05" />
|
| 113 |
+
</geometry>
|
| 114 |
+
</collision>
|
| 115 |
+
</link>
|
| 116 |
+
|
| 117 |
+
<joint name="left_wheel" type="continuous">
|
| 118 |
+
<parent link="base_link"/>
|
| 119 |
+
<child link="left_wheel_link"/>
|
| 120 |
+
<origin xyz="0 0.17 -0.082" rpy="0 0 0" />
|
| 121 |
+
<axis xyz="0 1 0" rpy="0 0 0" />
|
| 122 |
+
</joint>
|
| 123 |
+
|
| 124 |
+
<link name="fl_castor_link">
|
| 125 |
+
<inertial>
|
| 126 |
+
<mass value="1" />
|
| 127 |
+
<origin xyz="0 0 0" />
|
| 128 |
+
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
| 129 |
+
</inertial>
|
| 130 |
+
<visual>
|
| 131 |
+
<geometry>
|
| 132 |
+
<mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
|
| 133 |
+
</geometry>
|
| 134 |
+
</visual>
|
| 135 |
+
</link>
|
| 136 |
+
|
| 137 |
+
<joint name="fl_castor_wheel" type="continuous">
|
| 138 |
+
<parent link="base_link" />
|
| 139 |
+
<child link="fl_castor_link" />
|
| 140 |
+
<origin xyz="0.19 0.17 -0.038" rpy="-1.57 0 0" />
|
| 141 |
+
<axis xyz="0 1 0" rpy="0 0 0" />
|
| 142 |
+
</joint>
|
| 143 |
+
|
| 144 |
+
<link name="fr_castor_link">
|
| 145 |
+
<inertial>
|
| 146 |
+
<mass value="1" />
|
| 147 |
+
<origin xyz="0 0 0" />
|
| 148 |
+
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
| 149 |
+
</inertial>
|
| 150 |
+
<visual>
|
| 151 |
+
<geometry>
|
| 152 |
+
<mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
|
| 153 |
+
</geometry>
|
| 154 |
+
</visual>
|
| 155 |
+
</link>
|
| 156 |
+
|
| 157 |
+
<joint name="fr_castor_wheel" type="continuous">
|
| 158 |
+
<origin xyz="0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
|
| 159 |
+
<parent link="base_link" />
|
| 160 |
+
<child link="fr_castor_link" />
|
| 161 |
+
<axis xyz="0 1 0" rpy="0 0 0" />
|
| 162 |
+
</joint>
|
| 163 |
+
|
| 164 |
+
<link name="rr_castor_link">
|
| 165 |
+
<inertial>
|
| 166 |
+
<mass value="1" />
|
| 167 |
+
<origin xyz="0 0 0" />
|
| 168 |
+
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
| 169 |
+
</inertial>
|
| 170 |
+
<visual>
|
| 171 |
+
<geometry>
|
| 172 |
+
<mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
|
| 173 |
+
</geometry>
|
| 174 |
+
</visual>
|
| 175 |
+
</link>
|
| 176 |
+
|
| 177 |
+
<joint name="rr_castor_wheel" type="continuous">
|
| 178 |
+
<origin xyz="-0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
|
| 179 |
+
<parent link="base_link" />
|
| 180 |
+
<child link="rr_castor_link" />
|
| 181 |
+
<axis xyz="0 1 0" rpy="0 0 0" />
|
| 182 |
+
</joint>
|
| 183 |
+
|
| 184 |
+
<link name="rl_castor_link">
|
| 185 |
+
<inertial>
|
| 186 |
+
<mass value="1" />
|
| 187 |
+
<origin xyz="0 0 0" />
|
| 188 |
+
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
| 189 |
+
</inertial>
|
| 190 |
+
<visual>
|
| 191 |
+
<geometry>
|
| 192 |
+
<mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
|
| 193 |
+
</geometry>
|
| 194 |
+
</visual>
|
| 195 |
+
</link>
|
| 196 |
+
|
| 197 |
+
<joint name="rl_castor_wheel" type="continuous">
|
| 198 |
+
<origin xyz="-0.18955 0.17 -0.0380886" rpy="-1.57 0 0" />
|
| 199 |
+
<parent link="base_link" />
|
| 200 |
+
<child link="rl_castor_link" />
|
| 201 |
+
<axis xyz="0 1 0" rpy="0 0 0" />
|
| 202 |
+
</joint>
|
| 203 |
+
|
| 204 |
+
<link name="fl_wheel_link">
|
| 205 |
+
<inertial>
|
| 206 |
+
<mass value="1" />
|
| 207 |
+
<origin xyz="0 0 0" />
|
| 208 |
+
<inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
|
| 209 |
+
</inertial>
|
| 210 |
+
<visual>
|
| 211 |
+
<geometry>
|
| 212 |
+
<mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
|
| 213 |
+
</geometry>
|
| 214 |
+
</visual>
|
| 215 |
+
<collision>
|
| 216 |
+
<origin
|
| 217 |
+
xyz="0 0 0"
|
| 218 |
+
rpy="0 0 0" />
|
| 219 |
+
<geometry>
|
| 220 |
+
<!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
|
| 221 |
+
<cylinder radius="0.025" length="0.025" />
|
| 222 |
+
</geometry>
|
| 223 |
+
</collision>
|
| 224 |
+
</link>
|
| 225 |
+
|
| 226 |
+
<joint name="fl_wheel" type="continuous">
|
| 227 |
+
<parent link="fl_castor_link"/>
|
| 228 |
+
<child link="fl_wheel_link"/>
|
| 229 |
+
<dynamics damping="0.0" friction="0.0"/>
|
| 230 |
+
<origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
|
| 231 |
+
<axis xyz="0 0 1" rpy="0 0 0" />
|
| 232 |
+
</joint>
|
| 233 |
+
|
| 234 |
+
<link name="fr_wheel_link">
|
| 235 |
+
<inertial>
|
| 236 |
+
<mass value="1" />
|
| 237 |
+
<origin xyz="0 0 0" />
|
| 238 |
+
<inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
|
| 239 |
+
</inertial>
|
| 240 |
+
<visual>
|
| 241 |
+
<geometry>
|
| 242 |
+
<mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
|
| 243 |
+
</geometry>
|
| 244 |
+
</visual>
|
| 245 |
+
<collision>
|
| 246 |
+
<origin
|
| 247 |
+
xyz="0 0 0"
|
| 248 |
+
rpy="0 0 0" />
|
| 249 |
+
<geometry>
|
| 250 |
+
<!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />-->
|
| 251 |
+
<cylinder radius="0.025" length="0.025" />
|
| 252 |
+
</geometry>
|
| 253 |
+
</collision>
|
| 254 |
+
</link>
|
| 255 |
+
|
| 256 |
+
<joint name="fr_wheel" type="continuous">
|
| 257 |
+
<parent link="fr_castor_link"/>
|
| 258 |
+
<child link="fr_wheel_link"/>
|
| 259 |
+
<dynamics damping="0.0" friction="0.0"/>
|
| 260 |
+
<origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
|
| 261 |
+
<axis xyz="0 0 1" rpy="0 0 0" />
|
| 262 |
+
</joint>
|
| 263 |
+
|
| 264 |
+
<link name="rr_wheel_link">
|
| 265 |
+
<inertial>
|
| 266 |
+
<mass value="1" />
|
| 267 |
+
<origin xyz="0 0 0" />
|
| 268 |
+
<inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
|
| 269 |
+
<!--<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />-->
|
| 270 |
+
</inertial>
|
| 271 |
+
<visual>
|
| 272 |
+
<geometry>
|
| 273 |
+
<mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
|
| 274 |
+
</geometry>
|
| 275 |
+
</visual>
|
| 276 |
+
<collision>
|
| 277 |
+
<origin
|
| 278 |
+
xyz="0 0 0"
|
| 279 |
+
rpy="0 0 0" />
|
| 280 |
+
<geometry>
|
| 281 |
+
<!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
|
| 282 |
+
<cylinder radius="0.025" length="0.025" />
|
| 283 |
+
</geometry>
|
| 284 |
+
</collision>
|
| 285 |
+
</link>
|
| 286 |
+
|
| 287 |
+
<joint name="rr_wheel" type="continuous">
|
| 288 |
+
<parent link="rr_castor_link"/>
|
| 289 |
+
<child link="rr_wheel_link"/>
|
| 290 |
+
<dynamics damping="0.0" friction="0.0"/>
|
| 291 |
+
<origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
|
| 292 |
+
<axis xyz="0 0 1" rpy="0 0 0" />
|
| 293 |
+
</joint>
|
| 294 |
+
|
| 295 |
+
<link name="rl_wheel_link">
|
| 296 |
+
<inertial>
|
| 297 |
+
<mass value="1" />
|
| 298 |
+
<origin xyz="0 0 0" />
|
| 299 |
+
<inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
|
| 300 |
+
</inertial>
|
| 301 |
+
<visual>
|
| 302 |
+
<geometry>
|
| 303 |
+
<mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
|
| 304 |
+
</geometry>
|
| 305 |
+
</visual>
|
| 306 |
+
<collision>
|
| 307 |
+
<origin
|
| 308 |
+
xyz="0 0 0"
|
| 309 |
+
rpy="0 0 0" />
|
| 310 |
+
<geometry>
|
| 311 |
+
<!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
|
| 312 |
+
<cylinder radius="0.025" length="0.025" />
|
| 313 |
+
</geometry>
|
| 314 |
+
</collision>
|
| 315 |
+
</link>
|
| 316 |
+
|
| 317 |
+
<joint name="rl_wheel" type="continuous">
|
| 318 |
+
<parent link="rl_castor_link"/>
|
| 319 |
+
<child link="rl_wheel_link"/>
|
| 320 |
+
<dynamics damping="0.0" friction="0.0"/>
|
| 321 |
+
<origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
|
| 322 |
+
<axis xyz="0 0 1" rpy="0 0 0" />
|
| 323 |
+
</joint>
|
| 324 |
+
|
| 325 |
+
<!-- aloha base -->
|
| 326 |
+
<joint name="box_joint" type="fixed">
|
| 327 |
+
<origin xyz="0 0 0.15" rpy="0 0 0" />
|
| 328 |
+
<parent link="footprint" />
|
| 329 |
+
<child link="base_link" />
|
| 330 |
+
<axis xyz="0 0 0" />
|
| 331 |
+
</joint>
|
| 332 |
+
<link name="box1_Link">
|
| 333 |
+
<inertial>
|
| 334 |
+
<origin xyz="-0.17227 -0.0012276 0.023432" rpy="0 0 0" />
|
| 335 |
+
<mass value="0.00014994" />
|
| 336 |
+
<inertia ixx="0.012264" ixy="-9.2432E-06" ixz="0.0001761" iyy="0.0045226" iyz="-0.00063248" izz="0.016558" />
|
| 337 |
+
</inertial>
|
| 338 |
+
<visual>
|
| 339 |
+
<origin xyz="0 0 0" rpy="-0.05 0 0" />
|
| 340 |
+
<geometry>
|
| 341 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/box1_Link.STL" />
|
| 342 |
+
</geometry>
|
| 343 |
+
<material name="">
|
| 344 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 345 |
+
</material>
|
| 346 |
+
</visual>
|
| 347 |
+
<collision>
|
| 348 |
+
<origin xyz="0 0 0" rpy="-0.05 0 0" />
|
| 349 |
+
<geometry>
|
| 350 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/box1_Link.STL" />
|
| 351 |
+
</geometry>
|
| 352 |
+
</collision>
|
| 353 |
+
</link>
|
| 354 |
+
<joint name="box1" type="fixed">
|
| 355 |
+
<origin xyz="0 0 0.15" rpy="0 0 0" />
|
| 356 |
+
<parent link="footprint" />
|
| 357 |
+
<child link="box1_Link" />
|
| 358 |
+
<axis xyz="0 0 0" />
|
| 359 |
+
</joint>
|
| 360 |
+
<link name="box2_Link">
|
| 361 |
+
<inertial>
|
| 362 |
+
<origin xyz="0.015107 -0.027922 0.00013672" rpy="0 0 0" />
|
| 363 |
+
<mass value="3.736" />
|
| 364 |
+
<inertia ixx="0.097545" ixy="-9.2609E-06" ixz="0.00015366" iyy="0.045841" iyz="-0.0020459" izz="0.084773" />
|
| 365 |
+
</inertial>
|
| 366 |
+
<visual>
|
| 367 |
+
<origin xyz="0 0 0" rpy="0 0 3.141592653589323846" />
|
| 368 |
+
<geometry>
|
| 369 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/box2_Link.dae" />
|
| 370 |
+
</geometry>
|
| 371 |
+
</visual>
|
| 372 |
+
<collision>
|
| 373 |
+
<origin xyz="0 0 0" rpy="0 0 3.141592653589323846" />
|
| 374 |
+
<geometry>
|
| 375 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/box2_Link.dae" />
|
| 376 |
+
</geometry>
|
| 377 |
+
</collision>
|
| 378 |
+
</link>
|
| 379 |
+
<joint name="box2" type="fixed">
|
| 380 |
+
<origin xyz="0.158 -0.385 -0.135" rpy="0 0 0" />
|
| 381 |
+
<parent link="box1_Link" />
|
| 382 |
+
<child link="box2_Link" />
|
| 383 |
+
<axis xyz="0 0 0" />
|
| 384 |
+
</joint>
|
| 385 |
+
|
| 386 |
+
|
| 387 |
+
|
| 388 |
+
<link
|
| 389 |
+
name="camera_base_link">
|
| 390 |
+
<inertial>
|
| 391 |
+
<origin
|
| 392 |
+
xyz="-0.00862442289199344 -5.31672329634469E-08 0.170092831004467"
|
| 393 |
+
rpy="0 0 0" />
|
| 394 |
+
<mass
|
| 395 |
+
value="0.336269569361489" />
|
| 396 |
+
<inertia
|
| 397 |
+
ixx="0.00580628296841397"
|
| 398 |
+
ixy="3.98435937176716E-10"
|
| 399 |
+
ixz="-2.42350052877161E-05"
|
| 400 |
+
iyy="0.00582602200678083"
|
| 401 |
+
iyz="2.9180594404216E-10"
|
| 402 |
+
izz="0.000186894283496158" />
|
| 403 |
+
</inertial>
|
| 404 |
+
<visual>
|
| 405 |
+
<origin
|
| 406 |
+
xyz="0 0 0"
|
| 407 |
+
rpy="0 0 0" />
|
| 408 |
+
<geometry>
|
| 409 |
+
<mesh
|
| 410 |
+
filename="package://aloha_maniskill_sim/meshes/camera_base_link.STL" />
|
| 411 |
+
</geometry>
|
| 412 |
+
<!-- <material
|
| 413 |
+
name="white">
|
| 414 |
+
<color rgba="0.752 0.7529 0.7529 1" />
|
| 415 |
+
</material> -->
|
| 416 |
+
</visual>
|
| 417 |
+
<collision>
|
| 418 |
+
<origin
|
| 419 |
+
xyz="0 0 0"
|
| 420 |
+
rpy="0 0 0" />
|
| 421 |
+
<geometry>
|
| 422 |
+
<mesh
|
| 423 |
+
filename="package://aloha_maniskill_sim/meshes/camera_base_link.STL" />
|
| 424 |
+
</geometry>
|
| 425 |
+
</collision>
|
| 426 |
+
</link>
|
| 427 |
+
|
| 428 |
+
<joint name="camera_to_box1" type="fixed">
|
| 429 |
+
<origin xyz="0.18 0 0.626" rpy="0 0 0" />
|
| 430 |
+
<parent link="box1_Link" />
|
| 431 |
+
<child link="camera_base_link" />
|
| 432 |
+
<axis xyz="0 0 0" />
|
| 433 |
+
</joint>
|
| 434 |
+
|
| 435 |
+
<link
|
| 436 |
+
name="camera_link1">
|
| 437 |
+
<inertial>
|
| 438 |
+
<origin
|
| 439 |
+
xyz="-0.0292387906463559 0.000126439620513119 -0.000724950892729725"
|
| 440 |
+
rpy="0 0 0" />
|
| 441 |
+
<mass
|
| 442 |
+
value="0.0877001598245188" />
|
| 443 |
+
<inertia
|
| 444 |
+
ixx="7.77343248794949E-05"
|
| 445 |
+
ixy="2.44922634558373E-07"
|
| 446 |
+
ixz="1.73341747661077E-08"
|
| 447 |
+
iyy="9.73521513961785E-06"
|
| 448 |
+
iyz="-2.86133018917868E-09"
|
| 449 |
+
izz="7.74948757118157E-05" />
|
| 450 |
+
</inertial>
|
| 451 |
+
<visual>
|
| 452 |
+
<origin
|
| 453 |
+
xyz="0 0 0"
|
| 454 |
+
rpy="0 0 0" />
|
| 455 |
+
<geometry>
|
| 456 |
+
<mesh
|
| 457 |
+
filename="package://aloha_maniskill_sim/meshes/camera_link1.dae" />
|
| 458 |
+
</geometry>
|
| 459 |
+
<!-- <material
|
| 460 |
+
name="black">
|
| 461 |
+
<color rgba="0.05 0.05 0.05 0.98" />
|
| 462 |
+
</material> -->
|
| 463 |
+
</visual>
|
| 464 |
+
<collision>
|
| 465 |
+
<origin
|
| 466 |
+
xyz="0 0 0"
|
| 467 |
+
rpy="0 0 0" />
|
| 468 |
+
<geometry>
|
| 469 |
+
<mesh
|
| 470 |
+
filename="package://aloha_maniskill_sim/meshes/camera_link1.STL" />
|
| 471 |
+
</geometry>
|
| 472 |
+
</collision>
|
| 473 |
+
</link>
|
| 474 |
+
<joint name="camera_joint1" type="fixed">
|
| 475 |
+
<origin xyz="0.071198 0 0.10384" rpy="0 0.26931 0" />
|
| 476 |
+
<parent link="camera_base_link" />
|
| 477 |
+
<child link="camera_link1" />
|
| 478 |
+
<axis xyz="0 0 0" ryp="0 0 0"/>
|
| 479 |
+
</joint>
|
| 480 |
+
<link name="camera_link2">
|
| 481 |
+
<inertial>
|
| 482 |
+
<origin xyz="-0.0292307474530399 0.000126438461566014 -0.000753459207498031" rpy="0 0 0" />
|
| 483 |
+
<mass value="0.0877001605148491" />
|
| 484 |
+
<inertia
|
| 485 |
+
ixx="7.77338961798341E-05"
|
| 486 |
+
ixy="2.44922367048273E-07"
|
| 487 |
+
ixz="1.80373226250749E-08"
|
| 488 |
+
iyy="9.73521616927317E-06"
|
| 489 |
+
iyz="-2.86130173714525E-09"
|
| 490 |
+
izz="7.74953085203139E-05" />
|
| 491 |
+
</inertial>
|
| 492 |
+
<visual>
|
| 493 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 494 |
+
<geometry>
|
| 495 |
+
<mesh
|
| 496 |
+
filename="package://aloha_maniskill_sim/meshes/camera_link2.dae" />
|
| 497 |
+
</geometry>
|
| 498 |
+
<!-- <material name="black">
|
| 499 |
+
|
| 500 |
+
</material> -->
|
| 501 |
+
</visual>
|
| 502 |
+
<collision>
|
| 503 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 504 |
+
<geometry>
|
| 505 |
+
<mesh
|
| 506 |
+
filename="package://aloha_maniskill_sim/meshes/camera_link2.STL" />
|
| 507 |
+
</geometry>
|
| 508 |
+
</collision>
|
| 509 |
+
</link>
|
| 510 |
+
<joint name="camera_joint2" type="fixed">
|
| 511 |
+
<!-- <origin xyz="-0.11726 0 0.42423" rpy="0 0.011358 0" /> -->
|
| 512 |
+
<origin xyz="-0.14 0 0.5" rpy="0 0.011358 0" />
|
| 513 |
+
<parent link="camera_link1" />
|
| 514 |
+
<child link="camera_link2" />
|
| 515 |
+
<axis
|
| 516 |
+
xyz="0 0 0" />
|
| 517 |
+
</joint>
|
| 518 |
+
|
| 519 |
+
|
| 520 |
+
<!--***************************** front-left ****************************** -->
|
| 521 |
+
<link name="fl_base_link">
|
| 522 |
+
<inertial>
|
| 523 |
+
<origin xyz="-3.77960552443097E-05 6.79413834922362E-05 0.0272675975957773" rpy="0 0 0" />
|
| 524 |
+
<mass value="0.155112526591278" />
|
| 525 |
+
<inertia ixx="7.60347373757683E-05" ixy="1.31363578468253E-07" ixz="1.65990805634842E-07" iyy="7.64176389864096E-05" iyz="-2.98381448658278E-07" izz="6.94914158355665E-05" />
|
| 526 |
+
</inertial>
|
| 527 |
+
<visual>
|
| 528 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 529 |
+
<geometry>
|
| 530 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/base_arm.dae" />
|
| 531 |
+
</geometry>
|
| 532 |
+
<!-- <material name="black">
|
| 533 |
+
<color rgba="0.05 0.05 0.05 0.98" />
|
| 534 |
+
</material> -->
|
| 535 |
+
</visual>
|
| 536 |
+
<collision>
|
| 537 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 538 |
+
<geometry>
|
| 539 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/base_arm.STL" />
|
| 540 |
+
</geometry>
|
| 541 |
+
</collision>
|
| 542 |
+
</link>
|
| 543 |
+
<joint name="fl_base_joint" type="fixed">
|
| 544 |
+
<origin xyz="0.233 0.3 0.7775" rpy="0.0 0.0 0.0" />
|
| 545 |
+
<parent link="footprint" />
|
| 546 |
+
<child link="fl_base_link" />
|
| 547 |
+
<axis xyz="0.0 0.0 1.0" />
|
| 548 |
+
</joint>
|
| 549 |
+
|
| 550 |
+
<link name="fl_link1">
|
| 551 |
+
<inertial>
|
| 552 |
+
<origin xyz="0.00625345254733769 -0.024776724575416 0.0152204909116542" rpy="0 0 0" />
|
| 553 |
+
<mass value="0.0216291264377367" />
|
| 554 |
+
<inertia
|
| 555 |
+
ixx="1.15756471313396E-05"
|
| 556 |
+
ixy="1.63728784702967E-06"
|
| 557 |
+
ixz="-2.73767909517805E-06"
|
| 558 |
+
iyy="9.54605859943272E-06"
|
| 559 |
+
iyz="3.01605409074901E-06"
|
| 560 |
+
izz="1.06781021447089E-05" />
|
| 561 |
+
</inertial>
|
| 562 |
+
<visual>
|
| 563 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 564 |
+
<geometry>
|
| 565 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link1.dae" />
|
| 566 |
+
</geometry>
|
| 567 |
+
<!-- <material name="black">
|
| 568 |
+
|
| 569 |
+
</material> -->
|
| 570 |
+
</visual>
|
| 571 |
+
<collision>
|
| 572 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 573 |
+
<geometry>
|
| 574 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link1.STL" />
|
| 575 |
+
</geometry>
|
| 576 |
+
</collision>
|
| 577 |
+
</link>
|
| 578 |
+
<joint name="fl_joint1" type="revolute">
|
| 579 |
+
<origin xyz="0 0 0.058" rpy="0 0 0" />
|
| 580 |
+
<parent link="fl_base_link" />
|
| 581 |
+
<child link="fl_link1" />
|
| 582 |
+
<axis xyz="0 0 1" />
|
| 583 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 584 |
+
</joint>
|
| 585 |
+
<link name="fl_link2">
|
| 586 |
+
<inertial>
|
| 587 |
+
<origin xyz="-0.0751817740450955 3.45134309138919E-06 -4.55690287344823E-05" rpy="0 0 0" />
|
| 588 |
+
<mass value="0.317040634327494" />
|
| 589 |
+
<inertia
|
| 590 |
+
ixx="0.000148622978788109"
|
| 591 |
+
ixy="7.9939701538228E-06"
|
| 592 |
+
ixz="2.11594522192149E-06"
|
| 593 |
+
iyy="0.000646291918352959"
|
| 594 |
+
iyz="-1.99305353242084E-08"
|
| 595 |
+
izz="0.000613128041834933" />
|
| 596 |
+
</inertial>
|
| 597 |
+
<visual>
|
| 598 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 599 |
+
<geometry>
|
| 600 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link2.dae" />
|
| 601 |
+
</geometry>
|
| 602 |
+
<!-- <material name="black">
|
| 603 |
+
|
| 604 |
+
</material> -->
|
| 605 |
+
</visual>
|
| 606 |
+
<collision>
|
| 607 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 608 |
+
<geometry>
|
| 609 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link2.STL" />
|
| 610 |
+
</geometry>
|
| 611 |
+
</collision>
|
| 612 |
+
</link>
|
| 613 |
+
<joint name="fl_joint2" type="revolute">
|
| 614 |
+
<origin xyz="0.025013 0.00060169 0.042" rpy="0 0 0" />
|
| 615 |
+
<parent link="fl_link1" />
|
| 616 |
+
<child link="fl_link2" />
|
| 617 |
+
<axis xyz="0 1 0" />
|
| 618 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 619 |
+
</joint>
|
| 620 |
+
<link name="fl_link3">
|
| 621 |
+
<inertial>
|
| 622 |
+
<origin xyz="0.0958977122336034 -8.54798924280289E-05 -0.0389029227802006" rpy="0 0 0" />
|
| 623 |
+
<mass value="0.475179901151789" />
|
| 624 |
+
<inertia
|
| 625 |
+
ixx="0.000245797731408424"
|
| 626 |
+
ixy="-1.18756934981885E-06"
|
| 627 |
+
ixz="-3.08627546217305E-07"
|
| 628 |
+
iyy="0.000848596965773723"
|
| 629 |
+
iyz="2.1655980060709E-07"
|
| 630 |
+
izz="0.00073290848648715" />
|
| 631 |
+
</inertial>
|
| 632 |
+
<visual>
|
| 633 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 634 |
+
<geometry>
|
| 635 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link3.dae" />
|
| 636 |
+
</geometry>
|
| 637 |
+
<!-- <material name="white">
|
| 638 |
+
<color rgba="0.752 0.7529 0.7529 1" />
|
| 639 |
+
</material> -->
|
| 640 |
+
</visual>
|
| 641 |
+
<collision>
|
| 642 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 643 |
+
<geometry>
|
| 644 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link3.STL" />
|
| 645 |
+
</geometry>
|
| 646 |
+
</collision>
|
| 647 |
+
</link>
|
| 648 |
+
<joint name="fl_joint3" type="revolute">
|
| 649 |
+
<origin xyz="-0.26396 0.0044548 0" rpy="-3.1416 0 -0.015928" />
|
| 650 |
+
<parent link="fl_link2" />
|
| 651 |
+
<child link="fl_link3" />
|
| 652 |
+
<axis xyz="0 1 0" />
|
| 653 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 654 |
+
</joint>
|
| 655 |
+
<link name="fl_link4">
|
| 656 |
+
<inertial>
|
| 657 |
+
<origin xyz="0.0591385266744759 0.00278044811499105 -0.0552291926495377" rpy="0 0 0" />
|
| 658 |
+
<mass value="0.138133633872797" />
|
| 659 |
+
<inertia
|
| 660 |
+
ixx="5.6812931750694E-05"
|
| 661 |
+
ixy="3.18564570369191E-06"
|
| 662 |
+
ixz="3.31187610383292E-06"
|
| 663 |
+
iyy="5.56751697137782E-05"
|
| 664 |
+
iyz="-2.13897740775086E-06"
|
| 665 |
+
izz="6.42957251144152E-05" />
|
| 666 |
+
</inertial>
|
| 667 |
+
<visual>
|
| 668 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 669 |
+
<geometry>
|
| 670 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link4.dae" />
|
| 671 |
+
</geometry>
|
| 672 |
+
<!-- <material name="black">
|
| 673 |
+
|
| 674 |
+
</material> -->
|
| 675 |
+
</visual>
|
| 676 |
+
<collision>
|
| 677 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 678 |
+
<geometry>
|
| 679 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link4.STL" />
|
| 680 |
+
</geometry>
|
| 681 |
+
</collision>
|
| 682 |
+
</link>
|
| 683 |
+
<joint name="fl_joint4" type="revolute">
|
| 684 |
+
<origin xyz="0.246 -0.00025 -0.06" rpy="0 0 0" />
|
| 685 |
+
<parent link="fl_link3" />
|
| 686 |
+
<child link="fl_link4" />
|
| 687 |
+
<axis xyz="0 1 0" />
|
| 688 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 689 |
+
</joint>
|
| 690 |
+
<link name="fl_link5">
|
| 691 |
+
<inertial>
|
| 692 |
+
<origin xyz="0.00870303426445659 -2.87406901246252E-05 0.0817957433312705" rpy="0 0 0" />
|
| 693 |
+
<mass value="0.126741777607625" />
|
| 694 |
+
<inertia
|
| 695 |
+
ixx="5.2870226427243E-05"
|
| 696 |
+
ixy="-3.41758559092594E-08"
|
| 697 |
+
ixz="1.05281937338646E-06"
|
| 698 |
+
iyy="4.14245046680039E-05"
|
| 699 |
+
iyz="-7.47381113966083E-08"
|
| 700 |
+
izz="4.46265559731496E-05" />
|
| 701 |
+
</inertial>
|
| 702 |
+
<visual>
|
| 703 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 704 |
+
<geometry>
|
| 705 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link5.dae" />
|
| 706 |
+
</geometry>
|
| 707 |
+
<!-- <material name="black">
|
| 708 |
+
|
| 709 |
+
</material> -->
|
| 710 |
+
</visual>
|
| 711 |
+
<collision>
|
| 712 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 713 |
+
<geometry>
|
| 714 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link5.STL" />
|
| 715 |
+
</geometry>
|
| 716 |
+
</collision>
|
| 717 |
+
</link>
|
| 718 |
+
<joint name="fl_joint5" type="revolute">
|
| 719 |
+
<origin xyz="0.06775 0.0015 -0.0855" rpy="0 0 -0.015928" />
|
| 720 |
+
<parent link="fl_link4" />
|
| 721 |
+
<child link="fl_link5" />
|
| 722 |
+
<axis xyz="0 0 1" />
|
| 723 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 724 |
+
</joint>
|
| 725 |
+
<link name="fl_link6">
|
| 726 |
+
<inertial>
|
| 727 |
+
<origin xyz="0.038317562848284 -4.45000434657139E-05 0.00355875192843721" rpy="0 0 0" />
|
| 728 |
+
<mass value="0.142880100739169" />
|
| 729 |
+
<inertia
|
| 730 |
+
ixx="9.84190386012445E-05"
|
| 731 |
+
ixy="9.90777828593097E-08"
|
| 732 |
+
ixz="2.38841662850396E-07"
|
| 733 |
+
iyy="3.95328645641678E-05"
|
| 734 |
+
iyz="2.8992956673539E-07"
|
| 735 |
+
izz="8.4711562610471E-05" />
|
| 736 |
+
</inertial>
|
| 737 |
+
<visual>
|
| 738 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 739 |
+
<geometry>
|
| 740 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link6.dae" />
|
| 741 |
+
</geometry>
|
| 742 |
+
<!-- <material name="black">
|
| 743 |
+
|
| 744 |
+
</material> -->
|
| 745 |
+
</visual>
|
| 746 |
+
<collision>
|
| 747 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 748 |
+
<geometry>
|
| 749 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link6.STL" />
|
| 750 |
+
</geometry>
|
| 751 |
+
</collision>
|
| 752 |
+
</link>
|
| 753 |
+
<joint name="fl_joint6" type="revolute">
|
| 754 |
+
<origin xyz="0.03095 0 0.0855" rpy="-3.1416 0 0" />
|
| 755 |
+
<parent link="fl_link5" />
|
| 756 |
+
<child link="fl_link6" />
|
| 757 |
+
<axis xyz="1 0 0" />
|
| 758 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 759 |
+
</joint>
|
| 760 |
+
|
| 761 |
+
<!-- 相机的链接 -->
|
| 762 |
+
<link name="left_camera">
|
| 763 |
+
<visual>
|
| 764 |
+
<origin xyz="0 -0.032 0" rpy="1.57 0 1.57"/>
|
| 765 |
+
<geometry>
|
| 766 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/d435.dae" /> <!-- 根据D435相机的实际尺寸调整 -->
|
| 767 |
+
</geometry>
|
| 768 |
+
<!-- <material name="black">
|
| 769 |
+
<color rgba="0.8 0.8 0.8 1"/>
|
| 770 |
+
</material> -->
|
| 771 |
+
</visual>
|
| 772 |
+
<collision>
|
| 773 |
+
<origin xyz="0 -0.032 0" rpy="0 0 0"/>
|
| 774 |
+
<geometry>
|
| 775 |
+
<box size="0.025 0.090 0.025"/> <!-- 根据D435相机的实际尺寸调整 -->
|
| 776 |
+
</geometry>
|
| 777 |
+
</collision>
|
| 778 |
+
<inertial>
|
| 779 |
+
<mass value="0.1"/> <!-- 相机的估计质量 -->
|
| 780 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 781 |
+
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/> <!-- 估计的惯性张量 -->
|
| 782 |
+
</inertial>
|
| 783 |
+
</link>
|
| 784 |
+
|
| 785 |
+
<!-- 连接相机和末端执行器的关节 -->
|
| 786 |
+
<joint name="left_camera_joint" type="fixed">
|
| 787 |
+
<parent link="fl_link6"/>
|
| 788 |
+
<child link="left_camera"/>
|
| 789 |
+
<origin xyz="0.07 0.032 0.065" rpy="0 0.4 0"/> <!-- 根据相机的安装位置调整 -->
|
| 790 |
+
<!-- <origin xyz="0.07 0.032 0.06" rpy="0 0 0"/> 根据相机的安装位置调整 -->
|
| 791 |
+
</joint>
|
| 792 |
+
|
| 793 |
+
<link name="fl_link7">
|
| 794 |
+
<inertial>
|
| 795 |
+
<origin xyz="0.00626222055030923 -0.00713411663149576 -0.00289898514345116" rpy="0 0 0" />
|
| 796 |
+
<mass value="0.0264779585598598" />
|
| 797 |
+
<inertia
|
| 798 |
+
ixx="8.79642526953154E-06"
|
| 799 |
+
ixy="3.0244685599285E-06"
|
| 800 |
+
ixz="-5.99353466596085E-07"
|
| 801 |
+
iyy="1.48519274221679E-05"
|
| 802 |
+
iyz="1.31550651321036E-07"
|
| 803 |
+
izz="1.1114142640444E-05" />
|
| 804 |
+
</inertial>
|
| 805 |
+
<visual>
|
| 806 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 807 |
+
<geometry>
|
| 808 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link7.dae" />
|
| 809 |
+
</geometry>
|
| 810 |
+
<!-- <material name="black">
|
| 811 |
+
|
| 812 |
+
</material> -->
|
| 813 |
+
</visual>
|
| 814 |
+
<collision>
|
| 815 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 816 |
+
<geometry>
|
| 817 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link7.STL" />
|
| 818 |
+
</geometry>
|
| 819 |
+
</collision>
|
| 820 |
+
</link>
|
| 821 |
+
<joint name="fl_joint7" type="prismatic">
|
| 822 |
+
<origin xyz="0.08457 0.024493 -0.00010349" rpy="0 0 0" />
|
| 823 |
+
<parent link="fl_link6" />
|
| 824 |
+
<child link="fl_link7" />
|
| 825 |
+
<axis xyz="0 1 0" />
|
| 826 |
+
<limit lower="0" upper="0.04765" effort="100" velocity="1000" />
|
| 827 |
+
</joint>
|
| 828 |
+
<link name="fl_link8">
|
| 829 |
+
<inertial>
|
| 830 |
+
<origin xyz="0.00626222057480438 0.00713411644936678 0.00145300478837504" rpy="0 0 0" />
|
| 831 |
+
<mass value="0.0264779581346586" />
|
| 832 |
+
<inertia
|
| 833 |
+
ixx="9.01311523396113E-06"
|
| 834 |
+
ixy="-3.02446856817399E-06"
|
| 835 |
+
ixz="1.52593574709739E-06"
|
| 836 |
+
iyy="1.50686174477573E-05"
|
| 837 |
+
iyz="5.73251417689975E-07"
|
| 838 |
+
izz="1.11141426397578E-05" />
|
| 839 |
+
</inertial>
|
| 840 |
+
<visual>
|
| 841 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 842 |
+
<geometry>
|
| 843 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link8.dae" />
|
| 844 |
+
</geometry>
|
| 845 |
+
<!-- <material name="black">
|
| 846 |
+
|
| 847 |
+
</material> -->
|
| 848 |
+
</visual>
|
| 849 |
+
<collision>
|
| 850 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 851 |
+
<geometry>
|
| 852 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link8.STL" />
|
| 853 |
+
</geometry>
|
| 854 |
+
</collision>
|
| 855 |
+
</link>
|
| 856 |
+
<joint name="fl_joint8" type="prismatic">
|
| 857 |
+
<origin xyz="0.08457 -0.024496 -0.00010354" rpy="0 0 0" />
|
| 858 |
+
<parent link="fl_link6" />
|
| 859 |
+
<child link="fl_link8" />
|
| 860 |
+
<axis xyz="0 -1 0" />
|
| 861 |
+
<limit lower="0" upper="0.04765" effort="100" velocity="1000" />
|
| 862 |
+
</joint>
|
| 863 |
+
<!--***************************** front-right ****************************** -->
|
| 864 |
+
<link name="fr_base_link">
|
| 865 |
+
<inertial>
|
| 866 |
+
<origin xyz="-3.77960552443097E-05 6.79413834922362E-05 0.0272675975957773" rpy="0 0 0" />
|
| 867 |
+
<mass value="0.155112526591278" />
|
| 868 |
+
<inertia ixx="7.60347373757683E-05" ixy="1.31363578468253E-07" ixz="1.65990805634842E-07" iyy="7.64176389864096E-05" iyz="-2.98381448658278E-07" izz="6.94914158355665E-05" />
|
| 869 |
+
</inertial>
|
| 870 |
+
<visual>
|
| 871 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 872 |
+
<geometry>
|
| 873 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/base_arm.dae" />
|
| 874 |
+
</geometry>
|
| 875 |
+
<!-- <material name="black">
|
| 876 |
+
|
| 877 |
+
</material> -->
|
| 878 |
+
</visual>
|
| 879 |
+
<collision>
|
| 880 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 881 |
+
<geometry>
|
| 882 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/base_arm.STL" />
|
| 883 |
+
</geometry>
|
| 884 |
+
</collision>
|
| 885 |
+
</link>
|
| 886 |
+
|
| 887 |
+
<joint name="fr_base_joint" type="fixed">
|
| 888 |
+
<origin xyz="0.233 -0.3 0.7775" rpy="0.0 0.0 0.0" />
|
| 889 |
+
<parent link="footprint" />
|
| 890 |
+
<child link="fr_base_link" />
|
| 891 |
+
<axis xyz="0.0 0.0 1.0" />
|
| 892 |
+
</joint>
|
| 893 |
+
|
| 894 |
+
<link name="fr_link1">
|
| 895 |
+
<inertial>
|
| 896 |
+
<origin xyz="0.00625345254733769 -0.024776724575416 0.0152204909116542" rpy="0 0 0" />
|
| 897 |
+
<mass value="0.0216291264377367" />
|
| 898 |
+
<inertia
|
| 899 |
+
ixx="1.15756471313396E-05"
|
| 900 |
+
ixy="1.63728784702967E-06"
|
| 901 |
+
ixz="-2.73767909517805E-06"
|
| 902 |
+
iyy="9.54605859943272E-06"
|
| 903 |
+
iyz="3.01605409074901E-06"
|
| 904 |
+
izz="1.06781021447089E-05" />
|
| 905 |
+
</inertial>
|
| 906 |
+
<visual>
|
| 907 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 908 |
+
<geometry>
|
| 909 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link1.dae" />
|
| 910 |
+
</geometry>
|
| 911 |
+
<!-- <material name="black">
|
| 912 |
+
|
| 913 |
+
</material> -->
|
| 914 |
+
</visual>
|
| 915 |
+
<collision>
|
| 916 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 917 |
+
<geometry>
|
| 918 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link1.STL" />
|
| 919 |
+
</geometry>
|
| 920 |
+
</collision>
|
| 921 |
+
</link>
|
| 922 |
+
<joint name="fr_joint1" type="revolute">
|
| 923 |
+
<origin xyz="0 0 0.058" rpy="0 0 0" />
|
| 924 |
+
<parent link="fr_base_link" />
|
| 925 |
+
<child link="fr_link1" />
|
| 926 |
+
<axis xyz="0 0 1" />
|
| 927 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 928 |
+
</joint>
|
| 929 |
+
<link
|
| 930 |
+
name="fr_link2">
|
| 931 |
+
<inertial>
|
| 932 |
+
<origin xyz="-0.0751817740450955 3.45134309138919E-06 -4.55690287344823E-05" rpy="0 0 0" />
|
| 933 |
+
<mass value="0.317040634327494" />
|
| 934 |
+
<inertia
|
| 935 |
+
ixx="0.000148622978788109"
|
| 936 |
+
ixy="7.9939701538228E-06"
|
| 937 |
+
ixz="2.11594522192149E-06"
|
| 938 |
+
iyy="0.000646291918352959"
|
| 939 |
+
iyz="-1.99305353242084E-08"
|
| 940 |
+
izz="0.000613128041834933" />
|
| 941 |
+
</inertial>
|
| 942 |
+
<visual>
|
| 943 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 944 |
+
<geometry>
|
| 945 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link2.dae" />
|
| 946 |
+
</geometry>
|
| 947 |
+
<!-- <material name="black">
|
| 948 |
+
|
| 949 |
+
</material> -->
|
| 950 |
+
</visual>
|
| 951 |
+
<collision>
|
| 952 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 953 |
+
<geometry>
|
| 954 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link2.STL" />
|
| 955 |
+
</geometry>
|
| 956 |
+
</collision>
|
| 957 |
+
</link>
|
| 958 |
+
<joint name="fr_joint2" type="revolute">
|
| 959 |
+
<origin xyz="0.025013 0.00060169 0.042" rpy="0 0 0" />
|
| 960 |
+
<parent link="fr_link1" />
|
| 961 |
+
<child link="fr_link2" />
|
| 962 |
+
<axis xyz="0 1 0" />
|
| 963 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 964 |
+
</joint>
|
| 965 |
+
<link
|
| 966 |
+
name="fr_link3">
|
| 967 |
+
<inertial>
|
| 968 |
+
<origin xyz="0.0958977122336034 -8.54798924280289E-05 -0.0389029227802006" rpy="0 0 0" />
|
| 969 |
+
<mass value="0.475179901151789" />
|
| 970 |
+
<inertia
|
| 971 |
+
ixx="0.000245797731408424"
|
| 972 |
+
ixy="-1.18756934981885E-06"
|
| 973 |
+
ixz="-3.08627546217305E-07"
|
| 974 |
+
iyy="0.000848596965773723"
|
| 975 |
+
iyz="2.1655980060709E-07"
|
| 976 |
+
izz="0.00073290848648715" />
|
| 977 |
+
</inertial>
|
| 978 |
+
<visual>
|
| 979 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 980 |
+
<geometry>
|
| 981 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link3.dae" />
|
| 982 |
+
</geometry>
|
| 983 |
+
<!-- <material name="white">
|
| 984 |
+
|
| 985 |
+
</material> -->
|
| 986 |
+
</visual>
|
| 987 |
+
<collision>
|
| 988 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 989 |
+
<geometry>
|
| 990 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link3.STL" />
|
| 991 |
+
</geometry>
|
| 992 |
+
</collision>
|
| 993 |
+
</link>
|
| 994 |
+
<joint name="fr_joint3" type="revolute">
|
| 995 |
+
<origin xyz="-0.26396 0.0044548 0" rpy="-3.1416 0 -0.015928" />
|
| 996 |
+
<parent link="fr_link2" />
|
| 997 |
+
<child link="fr_link3" />
|
| 998 |
+
<axis xyz="0 1 0" />
|
| 999 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1000 |
+
</joint>
|
| 1001 |
+
<link
|
| 1002 |
+
name="fr_link4">
|
| 1003 |
+
<inertial>
|
| 1004 |
+
<origin xyz="0.0591385266744759 0.00278044811499105 -0.0552291926495377" rpy="0 0 0" />
|
| 1005 |
+
<mass value="0.138133633872797" />
|
| 1006 |
+
<inertia
|
| 1007 |
+
ixx="5.6812931750694E-05"
|
| 1008 |
+
ixy="3.18564570369191E-06"
|
| 1009 |
+
ixz="3.31187610383292E-06"
|
| 1010 |
+
iyy="5.56751697137782E-05"
|
| 1011 |
+
iyz="-2.13897740775086E-06"
|
| 1012 |
+
izz="6.42957251144152E-05" />
|
| 1013 |
+
</inertial>
|
| 1014 |
+
<visual>
|
| 1015 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1016 |
+
<geometry>
|
| 1017 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link4.dae" />
|
| 1018 |
+
</geometry>
|
| 1019 |
+
<!-- <material name="black">
|
| 1020 |
+
|
| 1021 |
+
</material> -->
|
| 1022 |
+
</visual>
|
| 1023 |
+
<collision>
|
| 1024 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1025 |
+
<geometry>
|
| 1026 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link4.STL" />
|
| 1027 |
+
</geometry>
|
| 1028 |
+
</collision>
|
| 1029 |
+
</link>
|
| 1030 |
+
<joint name="fr_joint4" type="revolute">
|
| 1031 |
+
<origin xyz="0.246 -0.00025 -0.06" rpy="0 0 0" />
|
| 1032 |
+
<parent link="fr_link3" />
|
| 1033 |
+
<child link="fr_link4" />
|
| 1034 |
+
<axis xyz="0 1 0" />
|
| 1035 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1036 |
+
</joint>
|
| 1037 |
+
<link
|
| 1038 |
+
name="fr_link5">
|
| 1039 |
+
<inertial>
|
| 1040 |
+
<origin xyz="0.00870303426445659 -2.87406901246252E-05 0.0817957433312705" rpy="0 0 0" />
|
| 1041 |
+
<mass value="0.126741777607625" />
|
| 1042 |
+
<inertia
|
| 1043 |
+
ixx="5.2870226427243E-05"
|
| 1044 |
+
ixy="-3.41758559092594E-08"
|
| 1045 |
+
ixz="1.05281937338646E-06"
|
| 1046 |
+
iyy="4.14245046680039E-05"
|
| 1047 |
+
iyz="-7.47381113966083E-08"
|
| 1048 |
+
izz="4.46265559731496E-05" />
|
| 1049 |
+
</inertial>
|
| 1050 |
+
<visual>
|
| 1051 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1052 |
+
<geometry>
|
| 1053 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link5.dae" />
|
| 1054 |
+
</geometry>
|
| 1055 |
+
<!-- <material name="black">
|
| 1056 |
+
|
| 1057 |
+
</material> -->
|
| 1058 |
+
</visual>
|
| 1059 |
+
<collision>
|
| 1060 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1061 |
+
<geometry>
|
| 1062 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link5.STL" />
|
| 1063 |
+
</geometry>
|
| 1064 |
+
</collision>
|
| 1065 |
+
</link>
|
| 1066 |
+
<joint name="fr_joint5" type="revolute">
|
| 1067 |
+
<origin xyz="0.06775 0.0015 -0.0855" rpy="0 0 -0.015928" />
|
| 1068 |
+
<parent link="fr_link4" />
|
| 1069 |
+
<child link="fr_link5" />
|
| 1070 |
+
<axis xyz="0 0 1" />
|
| 1071 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1072 |
+
</joint>
|
| 1073 |
+
<link name="fr_link6">
|
| 1074 |
+
<inertial>
|
| 1075 |
+
<origin xyz="0.038317562848284 -4.45000434657139E-05 0.00355875192843721" rpy="0 0 0" />
|
| 1076 |
+
<mass value="0.142880100739169" />
|
| 1077 |
+
<inertia
|
| 1078 |
+
ixx="9.84190386012445E-05"
|
| 1079 |
+
ixy="9.90777828593097E-08"
|
| 1080 |
+
ixz="2.38841662850396E-07"
|
| 1081 |
+
iyy="3.95328645641678E-05"
|
| 1082 |
+
iyz="2.8992956673539E-07"
|
| 1083 |
+
izz="8.4711562610471E-05" />
|
| 1084 |
+
</inertial>
|
| 1085 |
+
<visual>
|
| 1086 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1087 |
+
<geometry>
|
| 1088 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link6.dae" />
|
| 1089 |
+
</geometry>
|
| 1090 |
+
<!-- <material name="black">
|
| 1091 |
+
</material> -->
|
| 1092 |
+
</visual>
|
| 1093 |
+
<collision>
|
| 1094 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1095 |
+
<geometry>
|
| 1096 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link6.STL" />
|
| 1097 |
+
</geometry>
|
| 1098 |
+
</collision>
|
| 1099 |
+
</link>
|
| 1100 |
+
<joint name="fr_joint6" type="revolute">
|
| 1101 |
+
<origin xyz="0.03095 0 0.0855" rpy="-3.1416 0 0" />
|
| 1102 |
+
<parent link="fr_link5" />
|
| 1103 |
+
<child link="fr_link6" />
|
| 1104 |
+
<axis xyz="1 0 0" />
|
| 1105 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1106 |
+
</joint>
|
| 1107 |
+
|
| 1108 |
+
|
| 1109 |
+
<!-- 相机的链接 -->
|
| 1110 |
+
<link name="right_camera">
|
| 1111 |
+
<visual>
|
| 1112 |
+
<origin xyz="0 -0.032 0" rpy="1.57 0 1.57"/>
|
| 1113 |
+
<geometry>
|
| 1114 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/d435.dae" /> <!-- 根据D435相机的实际尺寸调整 -->
|
| 1115 |
+
</geometry>
|
| 1116 |
+
<!-- <material name="black">
|
| 1117 |
+
<color rgba="0 0 0.1 1"/>
|
| 1118 |
+
</material> -->
|
| 1119 |
+
</visual>
|
| 1120 |
+
<collision>
|
| 1121 |
+
<origin xyz="0 -0.032 0" rpy="0 0 0"/>
|
| 1122 |
+
<geometry>
|
| 1123 |
+
<box size="0.025 0.090 0.025"/> <!-- 根据D435相机的实际尺寸调整 -->
|
| 1124 |
+
</geometry>
|
| 1125 |
+
</collision>
|
| 1126 |
+
<inertial>
|
| 1127 |
+
<mass value="0.1"/> <!-- 相机的估计质量 -->
|
| 1128 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 1129 |
+
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/> <!-- 估计的惯性张量 -->
|
| 1130 |
+
</inertial>
|
| 1131 |
+
</link>
|
| 1132 |
+
|
| 1133 |
+
<!-- 连接相机和末端执行器的关节 -->
|
| 1134 |
+
<joint name="right_camera_joint" type="fixed">
|
| 1135 |
+
<parent link="fr_link6"/>
|
| 1136 |
+
<child link="right_camera"/>
|
| 1137 |
+
<origin xyz="0.07 0.032 0.065" rpy="0 0.4 0"/> <!-- 根据相机的安装位置调整 -->
|
| 1138 |
+
</joint>
|
| 1139 |
+
|
| 1140 |
+
<link name="fr_link7">
|
| 1141 |
+
<inertial>
|
| 1142 |
+
<origin xyz="0.00626222055030923 -0.00713411663149576 -0.00289898514345116" rpy="0 0 0" />
|
| 1143 |
+
<mass value="0.0264779585598598" />
|
| 1144 |
+
<inertia
|
| 1145 |
+
ixx="8.79642526953154E-06"
|
| 1146 |
+
ixy="3.0244685599285E-06"
|
| 1147 |
+
ixz="-5.99353466596085E-07"
|
| 1148 |
+
iyy="1.48519274221679E-05"
|
| 1149 |
+
iyz="1.31550651321036E-07"
|
| 1150 |
+
izz="1.1114142640444E-05" />
|
| 1151 |
+
</inertial>
|
| 1152 |
+
<visual>
|
| 1153 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1154 |
+
<geometry>
|
| 1155 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link7.dae" />
|
| 1156 |
+
</geometry>
|
| 1157 |
+
<!-- <material name="black">
|
| 1158 |
+
</material> -->
|
| 1159 |
+
</visual>
|
| 1160 |
+
<collision>
|
| 1161 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1162 |
+
<geometry>
|
| 1163 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link7.STL" />
|
| 1164 |
+
</geometry>
|
| 1165 |
+
</collision>
|
| 1166 |
+
</link>
|
| 1167 |
+
<joint name="fr_joint7" type="prismatic">
|
| 1168 |
+
<origin xyz="0.08457 0.024493 -0.00010349" rpy="0 0 0" />
|
| 1169 |
+
<parent link="fr_link6" />
|
| 1170 |
+
<child link="fr_link7" />
|
| 1171 |
+
<axis xyz="0 1 0" />
|
| 1172 |
+
<limit lower="0" upper="0.04765" effort="100" velocity="1000" />
|
| 1173 |
+
</joint>
|
| 1174 |
+
<link name="fr_link8">
|
| 1175 |
+
<inertial>
|
| 1176 |
+
<origin xyz="0.00626222057480438 0.00713411644936678 0.00145300478837504" rpy="0 0 0" />
|
| 1177 |
+
<mass value="0.0264779581346586" />
|
| 1178 |
+
<inertia
|
| 1179 |
+
ixx="9.01311523396113E-06"
|
| 1180 |
+
ixy="-3.02446856817399E-06"
|
| 1181 |
+
ixz="1.52593574709739E-06"
|
| 1182 |
+
iyy="1.50686174477573E-05"
|
| 1183 |
+
iyz="5.73251417689975E-07"
|
| 1184 |
+
izz="1.11141426397578E-05" />
|
| 1185 |
+
</inertial>
|
| 1186 |
+
<visual>
|
| 1187 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1188 |
+
<geometry>
|
| 1189 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link8.dae" />
|
| 1190 |
+
</geometry>
|
| 1191 |
+
<!-- <material name="black">
|
| 1192 |
+
</material> -->
|
| 1193 |
+
</visual>
|
| 1194 |
+
<collision>
|
| 1195 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1196 |
+
<geometry>
|
| 1197 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link8.STL" />
|
| 1198 |
+
</geometry>
|
| 1199 |
+
</collision>
|
| 1200 |
+
</link>
|
| 1201 |
+
<joint name="fr_joint8" type="prismatic">
|
| 1202 |
+
<origin xyz="0.08457 -0.024496 -0.00010354" rpy="0 0 0" />
|
| 1203 |
+
<parent link="fr_link6" />
|
| 1204 |
+
<child link="fr_link8" />
|
| 1205 |
+
<axis xyz="0 -1 0" />
|
| 1206 |
+
<limit lower="0" upper="0.04765" effort="100" velocity="1000" />
|
| 1207 |
+
</joint>
|
| 1208 |
+
<!--***************************** left-rear ****************************** -->
|
| 1209 |
+
<link name="lr_base_link">
|
| 1210 |
+
<inertial>
|
| 1211 |
+
<origin xyz="-2.9972E-05 3.056E-05 0.027301" rpy="0 0 0" />
|
| 1212 |
+
<mass value="0.44038" />
|
| 1213 |
+
<inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00018" iyz="0.00000" izz="0.00016" />
|
| 1214 |
+
</inertial>
|
| 1215 |
+
<visual>
|
| 1216 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1217 |
+
<geometry>
|
| 1218 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/base_arm.dae" />
|
| 1219 |
+
</geometry>
|
| 1220 |
+
<!-- <material name="black">
|
| 1221 |
+
<color rgba="0.75294 0.75294 0.75294 1" />
|
| 1222 |
+
</material> -->
|
| 1223 |
+
</visual>
|
| 1224 |
+
<collision>
|
| 1225 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1226 |
+
<geometry>
|
| 1227 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/base_arm.STL" />
|
| 1228 |
+
</geometry>
|
| 1229 |
+
</collision>
|
| 1230 |
+
</link>
|
| 1231 |
+
<joint name="lr_base_joint" type="fixed">
|
| 1232 |
+
<origin xyz="-0.309 0.307 0.903" rpy="0.0 0.0 0.0" />
|
| 1233 |
+
<parent link="footprint" />
|
| 1234 |
+
<child link="lr_base_link" />
|
| 1235 |
+
<axis xyz="0.0 0.0 1.0" />
|
| 1236 |
+
</joint>
|
| 1237 |
+
<link name="lr_link1">
|
| 1238 |
+
<inertial>
|
| 1239 |
+
<origin xyz="0.00609525411893452 -0.00429681977500749 0.0179590247477389" rpy="0 0 0" />
|
| 1240 |
+
<mass value="0.0608351104988555" />
|
| 1241 |
+
<inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00007" />
|
| 1242 |
+
</inertial>
|
| 1243 |
+
<visual>
|
| 1244 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1245 |
+
<geometry>
|
| 1246 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link1.dae" />
|
| 1247 |
+
</geometry>
|
| 1248 |
+
<!-- <material name="black">
|
| 1249 |
+
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1250 |
+
</material> -->
|
| 1251 |
+
</visual>
|
| 1252 |
+
<collision>
|
| 1253 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1254 |
+
<geometry>
|
| 1255 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link1.STL" />
|
| 1256 |
+
</geometry>
|
| 1257 |
+
</collision>
|
| 1258 |
+
</link>
|
| 1259 |
+
<joint name="lr_joint1" type="revolute">
|
| 1260 |
+
<origin xyz="0 0 0.0603" rpy="0 0 0" />
|
| 1261 |
+
<parent link="lr_base_link" />
|
| 1262 |
+
<child link="lr_link1" />
|
| 1263 |
+
<axis xyz="0 0 1" />
|
| 1264 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1265 |
+
</joint>
|
| 1266 |
+
<link name="lr_link2">
|
| 1267 |
+
<inertial>
|
| 1268 |
+
<origin xyz="-0.132382037190567 0.00220380675553821 0.000111790164679923" rpy="0 0 0" />
|
| 1269 |
+
<mass value="1.0733279014126" />
|
| 1270 |
+
<inertia ixx="0.00050" ixy="0.00000" ixz="-0.00004" iyy="0.01596" iyz="0.00000" izz="0.01602" />
|
| 1271 |
+
</inertial>
|
| 1272 |
+
<visual>
|
| 1273 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1274 |
+
<geometry>
|
| 1275 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link2.dae" />
|
| 1276 |
+
</geometry>
|
| 1277 |
+
<!-- <material name="black">
|
| 1278 |
+
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1279 |
+
</material> -->
|
| 1280 |
+
</visual>
|
| 1281 |
+
<collision>
|
| 1282 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1283 |
+
<geometry>
|
| 1284 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link2.STL" />
|
| 1285 |
+
</geometry>
|
| 1286 |
+
</collision>
|
| 1287 |
+
</link>
|
| 1288 |
+
<joint name="lr_joint2" type="revolute">
|
| 1289 |
+
<origin xyz="0.02 0 0.0402" rpy="0 0 0" />
|
| 1290 |
+
<parent link="lr_link1" />
|
| 1291 |
+
<child link="lr_link2" />
|
| 1292 |
+
<axis xyz="0 1 0" />
|
| 1293 |
+
<dynamics damping="0.0" friction="100.0"/>
|
| 1294 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1295 |
+
</joint>
|
| 1296 |
+
<link name="lr_link3">
|
| 1297 |
+
<inertial>
|
| 1298 |
+
<origin xyz="0.187203287369961 -0.000305676361444925 -0.0514832866415513" rpy="0 0 0" />
|
| 1299 |
+
<mass value="0.499404738025019" />
|
| 1300 |
+
<inertia ixx="0.00033" ixy="-0.00006" ixz="-0.00039" iyy="0.00387" iyz="0.00001" izz="0.00383" />
|
| 1301 |
+
</inertial>
|
| 1302 |
+
<visual>
|
| 1303 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1304 |
+
<geometry>
|
| 1305 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link3.dae" />
|
| 1306 |
+
</geometry>
|
| 1307 |
+
<!-- <material name="white">
|
| 1308 |
+
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1309 |
+
</material> -->
|
| 1310 |
+
</visual>
|
| 1311 |
+
<collision>
|
| 1312 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1313 |
+
<geometry>
|
| 1314 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link3.STL" />
|
| 1315 |
+
</geometry>
|
| 1316 |
+
</collision>
|
| 1317 |
+
</link>
|
| 1318 |
+
<joint name="lr_joint3" type="revolute">
|
| 1319 |
+
<origin xyz="-0.264 0 0" rpy="-3.1416 0 0" />
|
| 1320 |
+
<parent link="lr_link2" />
|
| 1321 |
+
<child link="lr_link3" />
|
| 1322 |
+
<axis xyz="0 1 0" />
|
| 1323 |
+
<dynamics damping="0.0" friction="100.0"/>
|
| 1324 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1325 |
+
</joint>
|
| 1326 |
+
<link name="lr_link4">
|
| 1327 |
+
<inertial>
|
| 1328 |
+
<origin xyz="0.0388884702662706 0.00295168681334743 -0.0353282735009622" rpy="0 0 0" />
|
| 1329 |
+
<mass value="0.0809712553169999" />
|
| 1330 |
+
<inertia ixx="0.00013" ixy="-0.00001" ixz="-0.00006" iyy="0.00016" iyz="0.00001" izz="0.00010" />
|
| 1331 |
+
</inertial>
|
| 1332 |
+
<visual>
|
| 1333 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1334 |
+
<geometry>
|
| 1335 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link4.dae" />
|
| 1336 |
+
</geometry>
|
| 1337 |
+
<!-- <material name="black">
|
| 1338 |
+
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
|
| 1339 |
+
</material> -->
|
| 1340 |
+
</visual>
|
| 1341 |
+
<collision>
|
| 1342 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1343 |
+
<geometry>
|
| 1344 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link4.STL" />
|
| 1345 |
+
</geometry>
|
| 1346 |
+
</collision>
|
| 1347 |
+
</link>
|
| 1348 |
+
<joint name="lr_joint4" type="revolute">
|
| 1349 |
+
<origin xyz="0.245 0 -0.056" rpy="0 0 0" />
|
| 1350 |
+
<parent link="lr_link3" />
|
| 1351 |
+
<child link="lr_link4" />
|
| 1352 |
+
<axis xyz="0 1 0" />
|
| 1353 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1354 |
+
</joint>
|
| 1355 |
+
<link name="lr_link5">
|
| 1356 |
+
<inertial>
|
| 1357 |
+
<origin xyz="0.00289956909960302 3.15826689885766E-05 0.0526188859211408" rpy="0 0 0" />
|
| 1358 |
+
<mass value="0.602357399313257" />
|
| 1359 |
+
<inertia ixx="0.00072" ixy="0.00000" ixz="0.00005" iyy="0.00069" iyz="0.00000" izz="0.00021" />
|
| 1360 |
+
</inertial>
|
| 1361 |
+
<visual>
|
| 1362 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1363 |
+
<geometry>
|
| 1364 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link5.dae" />
|
| 1365 |
+
</geometry>
|
| 1366 |
+
<!-- <material name="black">
|
| 1367 |
+
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1368 |
+
</material> -->
|
| 1369 |
+
</visual>
|
| 1370 |
+
<collision>
|
| 1371 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1372 |
+
<geometry>
|
| 1373 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link5.STL" />
|
| 1374 |
+
</geometry>
|
| 1375 |
+
</collision>
|
| 1376 |
+
</link>
|
| 1377 |
+
<joint name="lr_joint5" type="revolute">
|
| 1378 |
+
<origin xyz="0.06575 -0.001 -0.0825" rpy="0 0 0" />
|
| 1379 |
+
<parent link="lr_link4" />
|
| 1380 |
+
<child link="lr_link5" />
|
| 1381 |
+
<axis xyz="0 0 1" />
|
| 1382 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1383 |
+
</joint>
|
| 1384 |
+
<link name="lr_link6">
|
| 1385 |
+
<inertial>
|
| 1386 |
+
<origin xyz="0.0471798400661976 0.000102970421835668 -0.000138510949393961" rpy="0 0 0" />
|
| 1387 |
+
<mass value="0.462244960775882" />
|
| 1388 |
+
<inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" />
|
| 1389 |
+
</inertial>
|
| 1390 |
+
<visual>
|
| 1391 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1392 |
+
<geometry>
|
| 1393 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link6.dae" />
|
| 1394 |
+
</geometry>
|
| 1395 |
+
<!-- <material name="black">
|
| 1396 |
+
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
|
| 1397 |
+
</material> -->
|
| 1398 |
+
</visual>
|
| 1399 |
+
<collision>
|
| 1400 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1401 |
+
<geometry>
|
| 1402 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link6.STL" />
|
| 1403 |
+
</geometry>
|
| 1404 |
+
</collision>
|
| 1405 |
+
</link>
|
| 1406 |
+
<joint name="lr_joint6" type="revolute">
|
| 1407 |
+
<origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" />
|
| 1408 |
+
<parent link="lr_link5" />
|
| 1409 |
+
<child link="lr_link6" />
|
| 1410 |
+
<axis xyz="1 0 0" />
|
| 1411 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1412 |
+
</joint>
|
| 1413 |
+
<link name="lr_link7">
|
| 1414 |
+
<inertial>
|
| 1415 |
+
<origin xyz="-0.000327642774520215 -0.00482005374028087 -0.00167540868720402" rpy="0 0 0" />
|
| 1416 |
+
<mass value="0.0484016660227936" />
|
| 1417 |
+
<inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
|
| 1418 |
+
</inertial>
|
| 1419 |
+
<visual>
|
| 1420 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1421 |
+
<geometry>
|
| 1422 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/back_link7.dae" />
|
| 1423 |
+
</geometry>
|
| 1424 |
+
<!-- <material name="black">
|
| 1425 |
+
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
|
| 1426 |
+
</material> -->
|
| 1427 |
+
</visual>
|
| 1428 |
+
<collision>
|
| 1429 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1430 |
+
<geometry>
|
| 1431 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/back_link7.STL" />
|
| 1432 |
+
</geometry>
|
| 1433 |
+
</collision>
|
| 1434 |
+
</link>
|
| 1435 |
+
<joint name="lr_joint7" type="fixed">
|
| 1436 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1437 |
+
<parent link="lr_link6" />
|
| 1438 |
+
<child link="lr_link7" />
|
| 1439 |
+
<axis xyz="0 0 1" />
|
| 1440 |
+
<limit lower="0" upper="0.4765" effort="100" velocity="1000" />
|
| 1441 |
+
</joint>
|
| 1442 |
+
|
| 1443 |
+
|
| 1444 |
+
<!--***************************** right-rear ****************************** -->
|
| 1445 |
+
<link name="rr_base_link">
|
| 1446 |
+
<inertial>
|
| 1447 |
+
<origin xyz="-2.9972E-05 3.056E-05 0.027301" rpy="0 0 0" />
|
| 1448 |
+
<mass value="0.44038" />
|
| 1449 |
+
<inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00018" iyz="0.00000" izz="0.00016" />
|
| 1450 |
+
</inertial>
|
| 1451 |
+
<visual>
|
| 1452 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1453 |
+
<geometry>
|
| 1454 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/base_arm.dae" />
|
| 1455 |
+
</geometry>
|
| 1456 |
+
<!-- <material name="black">
|
| 1457 |
+
<color rgba="0.75294 0.75294 0.75294 1" />
|
| 1458 |
+
</material> -->
|
| 1459 |
+
</visual>
|
| 1460 |
+
<collision>
|
| 1461 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1462 |
+
<geometry>
|
| 1463 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/base_arm.STL" />
|
| 1464 |
+
</geometry>
|
| 1465 |
+
</collision>
|
| 1466 |
+
</link>
|
| 1467 |
+
<joint name="rr_base_joint" type="fixed">
|
| 1468 |
+
<origin xyz="-0.309 -0.307 0.903" rpy="0.0 0.0 0.0" />
|
| 1469 |
+
<parent link="footprint" />
|
| 1470 |
+
<child link="rr_base_link" />
|
| 1471 |
+
<axis xyz="0.0 0.0 1.0" />
|
| 1472 |
+
</joint>
|
| 1473 |
+
<link name="rr_link1">
|
| 1474 |
+
<inertial>
|
| 1475 |
+
<origin xyz="0.00609525411893452 -0.00429681977500749 0.0179590247477389" rpy="0 0 0" />
|
| 1476 |
+
<mass value="0.0608351104988555" />
|
| 1477 |
+
<inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00007" />
|
| 1478 |
+
</inertial>
|
| 1479 |
+
<visual>
|
| 1480 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1481 |
+
<geometry>
|
| 1482 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link1.dae" />
|
| 1483 |
+
</geometry>
|
| 1484 |
+
<!-- <material name="black">
|
| 1485 |
+
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1486 |
+
</material> -->
|
| 1487 |
+
</visual>
|
| 1488 |
+
<collision>
|
| 1489 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1490 |
+
<geometry>
|
| 1491 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link1.STL" />
|
| 1492 |
+
</geometry>
|
| 1493 |
+
</collision>
|
| 1494 |
+
</link>
|
| 1495 |
+
<joint name="rr_joint1" type="revolute">
|
| 1496 |
+
<origin xyz="0 0 0.0603" rpy="0 0 0" />
|
| 1497 |
+
<parent link="rr_base_link" />
|
| 1498 |
+
<child link="rr_link1" />
|
| 1499 |
+
<axis xyz="0 0 1" />
|
| 1500 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1501 |
+
</joint>
|
| 1502 |
+
<link name="rr_link2">
|
| 1503 |
+
<inertial>
|
| 1504 |
+
<origin xyz="-0.132382037190567 0.00220380675553821 0.000111790164679923" rpy="0 0 0" />
|
| 1505 |
+
<mass value="1.0733279014126" />
|
| 1506 |
+
<inertia ixx="0.00050" ixy="0.00000" ixz="-0.00004" iyy="0.01596" iyz="0.00000" izz="0.01602" />
|
| 1507 |
+
</inertial>
|
| 1508 |
+
<visual>
|
| 1509 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1510 |
+
<geometry>
|
| 1511 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link2.dae" />
|
| 1512 |
+
</geometry>
|
| 1513 |
+
<!-- <material name="black">
|
| 1514 |
+
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1515 |
+
</material> -->
|
| 1516 |
+
</visual>
|
| 1517 |
+
<collision>
|
| 1518 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1519 |
+
<geometry>
|
| 1520 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link2.STL" />
|
| 1521 |
+
</geometry>
|
| 1522 |
+
</collision>
|
| 1523 |
+
</link>
|
| 1524 |
+
<joint name="rr_joint2" type="revolute">
|
| 1525 |
+
<origin xyz="0.02 0 0.0402" rpy="0 0 0" />
|
| 1526 |
+
<parent link="rr_link1" />
|
| 1527 |
+
<child link="rr_link2" />
|
| 1528 |
+
<axis xyz="0 1 0" />
|
| 1529 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1530 |
+
</joint>
|
| 1531 |
+
<link name="rr_link3">
|
| 1532 |
+
<inertial>
|
| 1533 |
+
<origin xyz="0.187203287369961 -0.000305676361444925 -0.0514832866415513" rpy="0 0 0" />
|
| 1534 |
+
<mass value="0.499404738025019" />
|
| 1535 |
+
<inertia ixx="0.00033" ixy="-0.00006" ixz="-0.00039" iyy="0.00387" iyz="0.00001" izz="0.00383" />
|
| 1536 |
+
</inertial>
|
| 1537 |
+
<visual>
|
| 1538 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1539 |
+
<geometry>
|
| 1540 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link3.dae" />
|
| 1541 |
+
</geometry>
|
| 1542 |
+
<!-- <material name="white">
|
| 1543 |
+
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1544 |
+
</material> -->
|
| 1545 |
+
</visual>
|
| 1546 |
+
<collision>
|
| 1547 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1548 |
+
<geometry>
|
| 1549 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link3.STL" />
|
| 1550 |
+
</geometry>
|
| 1551 |
+
</collision>
|
| 1552 |
+
</link>
|
| 1553 |
+
<joint name="rr_joint3" type="revolute">
|
| 1554 |
+
<origin xyz="-0.264 0 0" rpy="-3.1416 0 0" />
|
| 1555 |
+
<parent link="rr_link2" />
|
| 1556 |
+
<child link="rr_link3" />
|
| 1557 |
+
<axis xyz="0 1 0" />
|
| 1558 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1559 |
+
</joint>
|
| 1560 |
+
<link name="rr_link4">
|
| 1561 |
+
<inertial>
|
| 1562 |
+
<origin xyz="0.0388884702662706 0.00295168681334743 -0.0353282735009622" rpy="0 0 0" />
|
| 1563 |
+
<mass value="0.0809712553169999" />
|
| 1564 |
+
<inertia ixx="0.00013" ixy="-0.00001" ixz="-0.00006" iyy="0.00016" iyz="0.00001" izz="0.00010" />
|
| 1565 |
+
</inertial>
|
| 1566 |
+
<visual>
|
| 1567 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1568 |
+
<geometry>
|
| 1569 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link4.dae" />
|
| 1570 |
+
</geometry>
|
| 1571 |
+
<!-- <material name="black">
|
| 1572 |
+
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
|
| 1573 |
+
</material> -->
|
| 1574 |
+
</visual>
|
| 1575 |
+
<collision>
|
| 1576 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1577 |
+
<geometry>
|
| 1578 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link4.STL" />
|
| 1579 |
+
</geometry>
|
| 1580 |
+
</collision>
|
| 1581 |
+
</link>
|
| 1582 |
+
<joint name="rr_joint4" type="revolute">
|
| 1583 |
+
<origin xyz="0.245 0 -0.056" rpy="0 0 0" />
|
| 1584 |
+
<parent link="rr_link3" />
|
| 1585 |
+
<child link="rr_link4" />
|
| 1586 |
+
<axis xyz="0 1 0" />
|
| 1587 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1588 |
+
</joint>
|
| 1589 |
+
<link name="rr_link5">
|
| 1590 |
+
<inertial>
|
| 1591 |
+
<origin xyz="0.00289956909960302 3.15826689885766E-05 0.0526188859211408" rpy="0 0 0" />
|
| 1592 |
+
<mass value="0.602357399313257" />
|
| 1593 |
+
<inertia ixx="0.00072" ixy="0.00000" ixz="0.00005" iyy="0.00069" iyz="0.00000" izz="0.00021" />
|
| 1594 |
+
</inertial>
|
| 1595 |
+
<visual>
|
| 1596 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1597 |
+
<geometry>
|
| 1598 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link5.dae" />
|
| 1599 |
+
</geometry>
|
| 1600 |
+
<!-- <material name="black">
|
| 1601 |
+
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1602 |
+
</material> -->
|
| 1603 |
+
</visual>
|
| 1604 |
+
<collision>
|
| 1605 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1606 |
+
<geometry>
|
| 1607 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link5.STL" />
|
| 1608 |
+
</geometry>
|
| 1609 |
+
</collision>
|
| 1610 |
+
</link>
|
| 1611 |
+
<joint name="rr_joint5" type="revolute">
|
| 1612 |
+
<origin xyz="0.06575 -0.001 -0.0825" rpy="0 0 0" />
|
| 1613 |
+
<parent link="rr_link4" />
|
| 1614 |
+
<child link="rr_link5" />
|
| 1615 |
+
<axis xyz="0 0 1" />
|
| 1616 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1617 |
+
</joint>
|
| 1618 |
+
<link name="rr_link6">
|
| 1619 |
+
<inertial>
|
| 1620 |
+
<origin xyz="0.0471798400661976 0.000102970421835668 -0.000138510949393961" rpy="0 0 0" />
|
| 1621 |
+
<mass value="0.462244960775882" />
|
| 1622 |
+
<inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" />
|
| 1623 |
+
</inertial>
|
| 1624 |
+
<visual>
|
| 1625 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1626 |
+
<geometry>
|
| 1627 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link6.dae" />
|
| 1628 |
+
</geometry>
|
| 1629 |
+
<!-- <material name="black">
|
| 1630 |
+
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
|
| 1631 |
+
</material> -->
|
| 1632 |
+
</visual>
|
| 1633 |
+
<collision>
|
| 1634 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1635 |
+
<geometry>
|
| 1636 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/link6.STL" />
|
| 1637 |
+
</geometry>
|
| 1638 |
+
</collision>
|
| 1639 |
+
</link>
|
| 1640 |
+
<joint name="rr_joint6" type="revolute">
|
| 1641 |
+
<origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" />
|
| 1642 |
+
<parent link="rr_link5" />
|
| 1643 |
+
<child link="rr_link6" />
|
| 1644 |
+
<axis xyz="1 0 0" />
|
| 1645 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1646 |
+
</joint>
|
| 1647 |
+
<link name="rr_link7">
|
| 1648 |
+
<inertial>
|
| 1649 |
+
<origin xyz="-0.000327642774520215 -0.00482005374028087 -0.00167540868720402" rpy="0 0 0" />
|
| 1650 |
+
<mass value="0.0484016660227936" />
|
| 1651 |
+
<inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
|
| 1652 |
+
</inertial>
|
| 1653 |
+
<visual>
|
| 1654 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1655 |
+
<geometry>
|
| 1656 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/back_link7.dae" />
|
| 1657 |
+
</geometry>
|
| 1658 |
+
<!-- <material name="black">
|
| 1659 |
+
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
|
| 1660 |
+
</material> -->
|
| 1661 |
+
</visual>
|
| 1662 |
+
<collision>
|
| 1663 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1664 |
+
<geometry>
|
| 1665 |
+
<mesh filename="package://aloha_maniskill_sim/meshes/back_link7.STL" />
|
| 1666 |
+
</geometry>
|
| 1667 |
+
</collision>
|
| 1668 |
+
</link>
|
| 1669 |
+
<joint name="rr_joint7" type="fixed">
|
| 1670 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1671 |
+
<parent link="rr_link6" />
|
| 1672 |
+
<child link="rr_link7" />
|
| 1673 |
+
<axis xyz="0 0 1" />
|
| 1674 |
+
<limit lower="0" upper="0.4765" effort="100" velocity="1000" />
|
| 1675 |
+
</joint>
|
| 1676 |
+
|
| 1677 |
+
|
| 1678 |
+
|
| 1679 |
+
</robot>
|
| 1680 |
+
|
embodiments/aloha-agilex-1-tactile/urdf/arx5_description_isaac_v1.urdf
ADDED
|
@@ -0,0 +1,1901 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8" ?>
|
| 2 |
+
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
| 3 |
+
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
|
| 4 |
+
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
| 5 |
+
<robot name="arx5_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
| 6 |
+
<!-- <link name="footprint"/> -->
|
| 7 |
+
|
| 8 |
+
<!-- <xacro:include filename="$(find tracer_description)/urdf/tracer_v1.xacro"/> -->
|
| 9 |
+
<!-- <xacro:include filename="$(find realsense2_description)/urdf/_d435.xacro"/> -->
|
| 10 |
+
|
| 11 |
+
<link name="footprint">
|
| 12 |
+
</link>
|
| 13 |
+
|
| 14 |
+
<!-- tracer base -->
|
| 15 |
+
<link name="base_link">
|
| 16 |
+
<visual>
|
| 17 |
+
<origin xyz="0 0 0" rpy="1.57 0 0"/>
|
| 18 |
+
<!--<origin xyz="0 0 0" rpy="0 0 0"/>-->
|
| 19 |
+
<geometry>
|
| 20 |
+
<!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
|
| 21 |
+
<mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.dae" />
|
| 22 |
+
<!--<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>-->
|
| 23 |
+
</geometry>
|
| 24 |
+
</visual>
|
| 25 |
+
<collision>
|
| 26 |
+
<!--origin
|
| 27 |
+
xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
|
| 28 |
+
rpy="0 0 0" /-->
|
| 29 |
+
<origin xyz="0 0 0" rpy="1.57 0 0"/>
|
| 30 |
+
<geometry>
|
| 31 |
+
<!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
|
| 32 |
+
<!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.STL" /> -->
|
| 33 |
+
<box size="0.35 0.1 0.35"/>
|
| 34 |
+
</geometry>
|
| 35 |
+
</collision>
|
| 36 |
+
</link>
|
| 37 |
+
<link name="inertial_link">
|
| 38 |
+
<inertial>
|
| 39 |
+
<!--mass value="44.3898489950015" /-->
|
| 40 |
+
<mass value="132.3898489950015" />
|
| 41 |
+
<!-- <mass value="50" /> -->
|
| 42 |
+
<!-- <origin xyz="-0.00065 -0.085 0.062" />
|
| 43 |
+
<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
|
| 44 |
+
<origin xyz="0.015 0.0231316650320557 0" />
|
| 45 |
+
<!--<origin
|
| 46 |
+
xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
|
| 47 |
+
rpy="0 0 0" />-->
|
| 48 |
+
<inertia ixx="0.185196122711036"
|
| 49 |
+
ixy="4.30144213829512E-08"
|
| 50 |
+
ixz="5.81037523686401E-08"
|
| 51 |
+
iyy="0.364893736238929"
|
| 52 |
+
iyz="-0.000386720198091934"
|
| 53 |
+
izz="0.223868521722778" />
|
| 54 |
+
<!--<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />-->
|
| 55 |
+
</inertial>
|
| 56 |
+
</link>
|
| 57 |
+
|
| 58 |
+
<joint name="inertial_joint" type="fixed">
|
| 59 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 60 |
+
<parent link="base_link" />
|
| 61 |
+
<child link="inertial_link" />
|
| 62 |
+
</joint>
|
| 63 |
+
|
| 64 |
+
<link name="right_wheel_link">
|
| 65 |
+
<inertial>
|
| 66 |
+
<mass value="6" />
|
| 67 |
+
<origin xyz="0 0 0" />
|
| 68 |
+
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
| 69 |
+
</inertial>
|
| 70 |
+
<visual>
|
| 71 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 72 |
+
<geometry>
|
| 73 |
+
<mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
|
| 74 |
+
</geometry>
|
| 75 |
+
</visual>
|
| 76 |
+
<collision>
|
| 77 |
+
<origin
|
| 78 |
+
xyz="0 0 0"
|
| 79 |
+
rpy="1.57 0 0" />
|
| 80 |
+
<geometry>
|
| 81 |
+
<!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
|
| 82 |
+
<cylinder radius="0.05" length="0.05" />
|
| 83 |
+
</geometry>
|
| 84 |
+
</collision>
|
| 85 |
+
</link>
|
| 86 |
+
|
| 87 |
+
<joint name="right_wheel" type="continuous">
|
| 88 |
+
<parent link="base_link"/>
|
| 89 |
+
<child link="right_wheel_link"/>
|
| 90 |
+
<origin xyz="0 -0.17 -0.082" rpy="0 0 0" />
|
| 91 |
+
<axis xyz="0 1 0" rpy="0 0 0" />
|
| 92 |
+
</joint>
|
| 93 |
+
|
| 94 |
+
<link name="left_wheel_link">
|
| 95 |
+
<inertial>
|
| 96 |
+
<mass value="6" />
|
| 97 |
+
<origin xyz="0 0 0" />
|
| 98 |
+
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
| 99 |
+
</inertial>
|
| 100 |
+
<visual>
|
| 101 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 102 |
+
<geometry>
|
| 103 |
+
<mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
|
| 104 |
+
</geometry>
|
| 105 |
+
</visual>
|
| 106 |
+
<collision>
|
| 107 |
+
<origin
|
| 108 |
+
xyz="0 0 0"
|
| 109 |
+
rpy="1.57 0 0" />
|
| 110 |
+
<geometry>
|
| 111 |
+
<!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
|
| 112 |
+
<cylinder radius="0.05" length="0.05" />
|
| 113 |
+
</geometry>
|
| 114 |
+
</collision>
|
| 115 |
+
</link>
|
| 116 |
+
|
| 117 |
+
<joint name="left_wheel" type="continuous">
|
| 118 |
+
<parent link="base_link"/>
|
| 119 |
+
<child link="left_wheel_link"/>
|
| 120 |
+
<origin xyz="0 0.17 -0.082" rpy="0 0 0" />
|
| 121 |
+
<axis xyz="0 1 0" rpy="0 0 0" />
|
| 122 |
+
</joint>
|
| 123 |
+
|
| 124 |
+
<link name="fl_castor_link">
|
| 125 |
+
<inertial>
|
| 126 |
+
<mass value="1" />
|
| 127 |
+
<origin xyz="0 0 0" />
|
| 128 |
+
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
| 129 |
+
</inertial>
|
| 130 |
+
<visual>
|
| 131 |
+
<geometry>
|
| 132 |
+
<mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
|
| 133 |
+
</geometry>
|
| 134 |
+
</visual>
|
| 135 |
+
</link>
|
| 136 |
+
|
| 137 |
+
<joint name="fl_castor_wheel" type="continuous">
|
| 138 |
+
<parent link="base_link" />
|
| 139 |
+
<child link="fl_castor_link" />
|
| 140 |
+
<origin xyz="0.19 0.17 -0.038" rpy="-1.57 0 0" />
|
| 141 |
+
<axis xyz="0 1 0" rpy="0 0 0" />
|
| 142 |
+
</joint>
|
| 143 |
+
|
| 144 |
+
<link name="fr_castor_link">
|
| 145 |
+
<inertial>
|
| 146 |
+
<mass value="1" />
|
| 147 |
+
<origin xyz="0 0 0" />
|
| 148 |
+
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
| 149 |
+
</inertial>
|
| 150 |
+
<visual>
|
| 151 |
+
<geometry>
|
| 152 |
+
<mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
|
| 153 |
+
</geometry>
|
| 154 |
+
</visual>
|
| 155 |
+
</link>
|
| 156 |
+
|
| 157 |
+
<joint name="fr_castor_wheel" type="continuous">
|
| 158 |
+
<origin xyz="0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
|
| 159 |
+
<parent link="base_link" />
|
| 160 |
+
<child link="fr_castor_link" />
|
| 161 |
+
<axis xyz="0 1 0" rpy="0 0 0" />
|
| 162 |
+
</joint>
|
| 163 |
+
|
| 164 |
+
<link name="rr_castor_link">
|
| 165 |
+
<inertial>
|
| 166 |
+
<mass value="1" />
|
| 167 |
+
<origin xyz="0 0 0" />
|
| 168 |
+
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
| 169 |
+
</inertial>
|
| 170 |
+
<visual>
|
| 171 |
+
<geometry>
|
| 172 |
+
<mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
|
| 173 |
+
</geometry>
|
| 174 |
+
</visual>
|
| 175 |
+
</link>
|
| 176 |
+
|
| 177 |
+
<joint name="rr_castor_wheel" type="continuous">
|
| 178 |
+
<origin xyz="-0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
|
| 179 |
+
<parent link="base_link" />
|
| 180 |
+
<child link="rr_castor_link" />
|
| 181 |
+
<axis xyz="0 1 0" rpy="0 0 0" />
|
| 182 |
+
</joint>
|
| 183 |
+
|
| 184 |
+
<link name="rl_castor_link">
|
| 185 |
+
<inertial>
|
| 186 |
+
<mass value="1" />
|
| 187 |
+
<origin xyz="0 0 0" />
|
| 188 |
+
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
| 189 |
+
</inertial>
|
| 190 |
+
<visual>
|
| 191 |
+
<geometry>
|
| 192 |
+
<mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
|
| 193 |
+
</geometry>
|
| 194 |
+
</visual>
|
| 195 |
+
</link>
|
| 196 |
+
|
| 197 |
+
<joint name="rl_castor_wheel" type="continuous">
|
| 198 |
+
<origin xyz="-0.18955 0.17 -0.0380886" rpy="-1.57 0 0" />
|
| 199 |
+
<parent link="base_link" />
|
| 200 |
+
<child link="rl_castor_link" />
|
| 201 |
+
<axis xyz="0 1 0" rpy="0 0 0" />
|
| 202 |
+
</joint>
|
| 203 |
+
|
| 204 |
+
<link name="fl_wheel_link">
|
| 205 |
+
<inertial>
|
| 206 |
+
<mass value="1" />
|
| 207 |
+
<origin xyz="0 0 0" />
|
| 208 |
+
<inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
|
| 209 |
+
</inertial>
|
| 210 |
+
<visual>
|
| 211 |
+
<geometry>
|
| 212 |
+
<mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
|
| 213 |
+
</geometry>
|
| 214 |
+
</visual>
|
| 215 |
+
<collision>
|
| 216 |
+
<origin
|
| 217 |
+
xyz="0 0 0"
|
| 218 |
+
rpy="0 0 0" />
|
| 219 |
+
<geometry>
|
| 220 |
+
<!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
|
| 221 |
+
<cylinder radius="0.025" length="0.025" />
|
| 222 |
+
</geometry>
|
| 223 |
+
</collision>
|
| 224 |
+
</link>
|
| 225 |
+
|
| 226 |
+
<joint name="fl_wheel" type="continuous">
|
| 227 |
+
<parent link="fl_castor_link"/>
|
| 228 |
+
<child link="fl_wheel_link"/>
|
| 229 |
+
<dynamics damping="0.0" friction="0.0"/>
|
| 230 |
+
<origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
|
| 231 |
+
<axis xyz="0 0 1" rpy="0 0 0" />
|
| 232 |
+
</joint>
|
| 233 |
+
|
| 234 |
+
<link name="fr_wheel_link">
|
| 235 |
+
<inertial>
|
| 236 |
+
<mass value="1" />
|
| 237 |
+
<origin xyz="0 0 0" />
|
| 238 |
+
<inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
|
| 239 |
+
</inertial>
|
| 240 |
+
<visual>
|
| 241 |
+
<geometry>
|
| 242 |
+
<mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
|
| 243 |
+
</geometry>
|
| 244 |
+
</visual>
|
| 245 |
+
<collision>
|
| 246 |
+
<origin
|
| 247 |
+
xyz="0 0 0"
|
| 248 |
+
rpy="0 0 0" />
|
| 249 |
+
<geometry>
|
| 250 |
+
<!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />-->
|
| 251 |
+
<cylinder radius="0.025" length="0.025" />
|
| 252 |
+
</geometry>
|
| 253 |
+
</collision>
|
| 254 |
+
</link>
|
| 255 |
+
|
| 256 |
+
<joint name="fr_wheel" type="continuous">
|
| 257 |
+
<parent link="fr_castor_link"/>
|
| 258 |
+
<child link="fr_wheel_link"/>
|
| 259 |
+
<dynamics damping="0.0" friction="0.0"/>
|
| 260 |
+
<origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
|
| 261 |
+
<axis xyz="0 0 1" rpy="0 0 0" />
|
| 262 |
+
</joint>
|
| 263 |
+
|
| 264 |
+
<link name="rr_wheel_link">
|
| 265 |
+
<inertial>
|
| 266 |
+
<mass value="1" />
|
| 267 |
+
<origin xyz="0 0 0" />
|
| 268 |
+
<inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
|
| 269 |
+
<!--<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />-->
|
| 270 |
+
</inertial>
|
| 271 |
+
<visual>
|
| 272 |
+
<geometry>
|
| 273 |
+
<mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
|
| 274 |
+
</geometry>
|
| 275 |
+
</visual>
|
| 276 |
+
<collision>
|
| 277 |
+
<origin
|
| 278 |
+
xyz="0 0 0"
|
| 279 |
+
rpy="0 0 0" />
|
| 280 |
+
<geometry>
|
| 281 |
+
<!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
|
| 282 |
+
<cylinder radius="0.025" length="0.025" />
|
| 283 |
+
</geometry>
|
| 284 |
+
</collision>
|
| 285 |
+
</link>
|
| 286 |
+
|
| 287 |
+
<joint name="rr_wheel" type="continuous">
|
| 288 |
+
<parent link="rr_castor_link"/>
|
| 289 |
+
<child link="rr_wheel_link"/>
|
| 290 |
+
<dynamics damping="0.0" friction="0.0"/>
|
| 291 |
+
<origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
|
| 292 |
+
<axis xyz="0 0 1" rpy="0 0 0" />
|
| 293 |
+
</joint>
|
| 294 |
+
|
| 295 |
+
<link name="rl_wheel_link">
|
| 296 |
+
<inertial>
|
| 297 |
+
<mass value="1" />
|
| 298 |
+
<origin xyz="0 0 0" />
|
| 299 |
+
<inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
|
| 300 |
+
</inertial>
|
| 301 |
+
<visual>
|
| 302 |
+
<geometry>
|
| 303 |
+
<mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
|
| 304 |
+
</geometry>
|
| 305 |
+
</visual>
|
| 306 |
+
<collision>
|
| 307 |
+
<origin
|
| 308 |
+
xyz="0 0 0"
|
| 309 |
+
rpy="0 0 0" />
|
| 310 |
+
<geometry>
|
| 311 |
+
<!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
|
| 312 |
+
<cylinder radius="0.025" length="0.025" />
|
| 313 |
+
</geometry>
|
| 314 |
+
</collision>
|
| 315 |
+
</link>
|
| 316 |
+
|
| 317 |
+
<joint name="rl_wheel" type="continuous">
|
| 318 |
+
<parent link="rl_castor_link"/>
|
| 319 |
+
<child link="rl_wheel_link"/>
|
| 320 |
+
<dynamics damping="0.0" friction="0.0"/>
|
| 321 |
+
<origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
|
| 322 |
+
<axis xyz="0 0 1" rpy="0 0 0" />
|
| 323 |
+
</joint>
|
| 324 |
+
|
| 325 |
+
<!-- aloha base -->
|
| 326 |
+
<joint name="box_joint" type="fixed">
|
| 327 |
+
<origin xyz="0 0 0.15" rpy="0 0 0" />
|
| 328 |
+
<parent link="footprint" />
|
| 329 |
+
<child link="base_link" />
|
| 330 |
+
<axis xyz="0 0 0" />
|
| 331 |
+
</joint>
|
| 332 |
+
<link name="box1_Link">
|
| 333 |
+
<inertial>
|
| 334 |
+
<origin xyz="-0.17227 -0.0012276 0.023432" rpy="0 0 0" />
|
| 335 |
+
<mass value="0.00014994" />
|
| 336 |
+
<inertia ixx="0.012264" ixy="-9.2432E-06" ixz="0.0001761" iyy="0.0045226" iyz="-0.00063248" izz="0.016558" />
|
| 337 |
+
</inertial>
|
| 338 |
+
<visual>
|
| 339 |
+
<origin xyz="0 0 0" rpy="-0.05 0 0" />
|
| 340 |
+
<geometry>
|
| 341 |
+
<mesh filename="aloha_maniskill_sim/meshes/box1_Link.STL" />
|
| 342 |
+
</geometry>
|
| 343 |
+
<material name="">
|
| 344 |
+
<color rgba="0.79216 0.81961 0.93333 1" />
|
| 345 |
+
</material>
|
| 346 |
+
</visual>
|
| 347 |
+
<collision>
|
| 348 |
+
<origin xyz="0 0 0" rpy="-0.05 0 0" />
|
| 349 |
+
<geometry>
|
| 350 |
+
<mesh filename="aloha_maniskill_sim/meshes/box1_Link.STL" />
|
| 351 |
+
</geometry>
|
| 352 |
+
</collision>
|
| 353 |
+
</link>
|
| 354 |
+
<joint name="box1" type="fixed">
|
| 355 |
+
<origin xyz="0 0 0.15" rpy="0 0 0" />
|
| 356 |
+
<parent link="footprint" />
|
| 357 |
+
<child link="box1_Link" />
|
| 358 |
+
<axis xyz="0 0 0" />
|
| 359 |
+
</joint>
|
| 360 |
+
<link name="box2_Link">
|
| 361 |
+
<inertial>
|
| 362 |
+
<origin xyz="0.015107 -0.027922 0.00013672" rpy="0 0 0" />
|
| 363 |
+
<mass value="3.736" />
|
| 364 |
+
<inertia ixx="0.097545" ixy="-9.2609E-06" ixz="0.00015366" iyy="0.045841" iyz="-0.0020459" izz="0.084773" />
|
| 365 |
+
</inertial>
|
| 366 |
+
<visual>
|
| 367 |
+
<origin xyz="0 0 0" rpy="0 0 3.141592653589323846" />
|
| 368 |
+
<geometry>
|
| 369 |
+
<mesh filename="aloha_maniskill_sim/meshes/box2_Link.dae" />
|
| 370 |
+
</geometry>
|
| 371 |
+
</visual>
|
| 372 |
+
<collision>
|
| 373 |
+
<origin xyz="0 0 0" rpy="0 0 3.141592653589323846" />
|
| 374 |
+
<geometry>
|
| 375 |
+
<mesh filename="aloha_maniskill_sim/meshes/box2_Link.dae" />
|
| 376 |
+
</geometry>
|
| 377 |
+
</collision>
|
| 378 |
+
</link>
|
| 379 |
+
<joint name="box2" type="fixed">
|
| 380 |
+
<origin xyz="0.158 -0.385 -0.135" rpy="0 0 0" />
|
| 381 |
+
<parent link="box1_Link" />
|
| 382 |
+
<child link="box2_Link" />
|
| 383 |
+
<axis xyz="0 0 0" />
|
| 384 |
+
</joint>
|
| 385 |
+
|
| 386 |
+
|
| 387 |
+
|
| 388 |
+
<link
|
| 389 |
+
name="camera_base_link">
|
| 390 |
+
<inertial>
|
| 391 |
+
<origin
|
| 392 |
+
xyz="-0.00862442289199344 -5.31672329634469E-08 0.170092831004467"
|
| 393 |
+
rpy="0 0 0" />
|
| 394 |
+
<mass
|
| 395 |
+
value="0.336269569361489" />
|
| 396 |
+
<inertia
|
| 397 |
+
ixx="0.00580628296841397"
|
| 398 |
+
ixy="3.98435937176716E-10"
|
| 399 |
+
ixz="-2.42350052877161E-05"
|
| 400 |
+
iyy="0.00582602200678083"
|
| 401 |
+
iyz="2.9180594404216E-10"
|
| 402 |
+
izz="0.000186894283496158" />
|
| 403 |
+
</inertial>
|
| 404 |
+
<visual>
|
| 405 |
+
<origin
|
| 406 |
+
xyz="0 0 0"
|
| 407 |
+
rpy="0 0 0" />
|
| 408 |
+
<geometry>
|
| 409 |
+
<mesh
|
| 410 |
+
filename="aloha_maniskill_sim/meshes/camera_base_link.STL" />
|
| 411 |
+
</geometry>
|
| 412 |
+
<!-- <material
|
| 413 |
+
name="white">
|
| 414 |
+
<color rgba="0.752 0.7529 0.7529 1" />
|
| 415 |
+
</material> -->
|
| 416 |
+
</visual>
|
| 417 |
+
<collision>
|
| 418 |
+
<origin
|
| 419 |
+
xyz="0 0 0"
|
| 420 |
+
rpy="0 0 0" />
|
| 421 |
+
<geometry>
|
| 422 |
+
<mesh
|
| 423 |
+
filename="aloha_maniskill_sim/meshes/camera_base_link.STL" />
|
| 424 |
+
</geometry>
|
| 425 |
+
</collision>
|
| 426 |
+
</link>
|
| 427 |
+
|
| 428 |
+
<joint name="camera_to_box1" type="fixed">
|
| 429 |
+
<origin xyz="0.18 0 0.626" rpy="0 0 0" />
|
| 430 |
+
<parent link="box1_Link" />
|
| 431 |
+
<child link="camera_base_link" />
|
| 432 |
+
<axis xyz="0 0 0" />
|
| 433 |
+
</joint>
|
| 434 |
+
|
| 435 |
+
<link
|
| 436 |
+
name="camera_link1">
|
| 437 |
+
<inertial>
|
| 438 |
+
<origin
|
| 439 |
+
xyz="-0.0292387906463559 0.000126439620513119 -0.000724950892729725"
|
| 440 |
+
rpy="0 0 0" />
|
| 441 |
+
<mass
|
| 442 |
+
value="0.0877001598245188" />
|
| 443 |
+
<inertia
|
| 444 |
+
ixx="7.77343248794949E-05"
|
| 445 |
+
ixy="2.44922634558373E-07"
|
| 446 |
+
ixz="1.73341747661077E-08"
|
| 447 |
+
iyy="9.73521513961785E-06"
|
| 448 |
+
iyz="-2.86133018917868E-09"
|
| 449 |
+
izz="7.74948757118157E-05" />
|
| 450 |
+
</inertial>
|
| 451 |
+
<visual>
|
| 452 |
+
<origin
|
| 453 |
+
xyz="0 0 0"
|
| 454 |
+
rpy="0 0 0" />
|
| 455 |
+
<geometry>
|
| 456 |
+
<mesh
|
| 457 |
+
filename="aloha_maniskill_sim/meshes/camera_link1.dae" />
|
| 458 |
+
</geometry>
|
| 459 |
+
<!-- <material
|
| 460 |
+
name="black">
|
| 461 |
+
<color rgba="0.05 0.05 0.05 0.98" />
|
| 462 |
+
</material> -->
|
| 463 |
+
</visual>
|
| 464 |
+
<collision>
|
| 465 |
+
<origin
|
| 466 |
+
xyz="0 0 0"
|
| 467 |
+
rpy="0 0 0" />
|
| 468 |
+
<geometry>
|
| 469 |
+
<mesh
|
| 470 |
+
filename="aloha_maniskill_sim/meshes/camera_link1.STL" />
|
| 471 |
+
</geometry>
|
| 472 |
+
</collision>
|
| 473 |
+
</link>
|
| 474 |
+
<joint name="camera_joint1" type="fixed">
|
| 475 |
+
<origin xyz="0.071198 0 0.10384" rpy="0 0.26931 0" />
|
| 476 |
+
<parent link="camera_base_link" />
|
| 477 |
+
<child link="camera_link1" />
|
| 478 |
+
<axis xyz="0 0 0" ryp="0 0 0"/>
|
| 479 |
+
</joint>
|
| 480 |
+
<link name="camera_link2">
|
| 481 |
+
<inertial>
|
| 482 |
+
<origin xyz="-0.0292307474530399 0.000126438461566014 -0.000753459207498031" rpy="0 0 0" />
|
| 483 |
+
<mass value="0.0877001605148491" />
|
| 484 |
+
<inertia
|
| 485 |
+
ixx="7.77338961798341E-05"
|
| 486 |
+
ixy="2.44922367048273E-07"
|
| 487 |
+
ixz="1.80373226250749E-08"
|
| 488 |
+
iyy="9.73521616927317E-06"
|
| 489 |
+
iyz="-2.86130173714525E-09"
|
| 490 |
+
izz="7.74953085203139E-05" />
|
| 491 |
+
</inertial>
|
| 492 |
+
<visual>
|
| 493 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 494 |
+
<geometry>
|
| 495 |
+
<mesh
|
| 496 |
+
filename="aloha_maniskill_sim/meshes/camera_link2.dae" />
|
| 497 |
+
</geometry>
|
| 498 |
+
<!-- <material name="black">
|
| 499 |
+
|
| 500 |
+
</material> -->
|
| 501 |
+
</visual>
|
| 502 |
+
<collision>
|
| 503 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 504 |
+
<geometry>
|
| 505 |
+
<mesh
|
| 506 |
+
filename="aloha_maniskill_sim/meshes/camera_link2.STL" />
|
| 507 |
+
</geometry>
|
| 508 |
+
</collision>
|
| 509 |
+
</link>
|
| 510 |
+
<joint name="camera_joint2" type="fixed">
|
| 511 |
+
<!-- <origin xyz="-0.11726 0 0.42423" rpy="0 0.011358 0" /> -->
|
| 512 |
+
<origin xyz="-0.14 0 0.5" rpy="0 0.011358 0" />
|
| 513 |
+
<parent link="camera_link1" />
|
| 514 |
+
<child link="camera_link2" />
|
| 515 |
+
<axis
|
| 516 |
+
xyz="0 0 0" />
|
| 517 |
+
</joint>
|
| 518 |
+
|
| 519 |
+
|
| 520 |
+
<!--***************************** front-left ****************************** -->
|
| 521 |
+
<link name="fl_base_link">
|
| 522 |
+
<inertial>
|
| 523 |
+
<origin xyz="-3.77960552443097E-05 6.79413834922362E-05 0.0272675975957773" rpy="0 0 0" />
|
| 524 |
+
<mass value="0.155112526591278" />
|
| 525 |
+
<inertia ixx="7.60347373757683E-05" ixy="1.31363578468253E-07" ixz="1.65990805634842E-07" iyy="7.64176389864096E-05" iyz="-2.98381448658278E-07" izz="6.94914158355665E-05" />
|
| 526 |
+
</inertial>
|
| 527 |
+
<visual>
|
| 528 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 529 |
+
<geometry>
|
| 530 |
+
<mesh filename="aloha_maniskill_sim/meshes/base_arm.dae" />
|
| 531 |
+
</geometry>
|
| 532 |
+
<!-- <material name="black">
|
| 533 |
+
<color rgba="0.05 0.05 0.05 0.98" />
|
| 534 |
+
</material> -->
|
| 535 |
+
</visual>
|
| 536 |
+
<collision>
|
| 537 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 538 |
+
<geometry>
|
| 539 |
+
<mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
|
| 540 |
+
</geometry>
|
| 541 |
+
</collision>
|
| 542 |
+
</link>
|
| 543 |
+
<joint name="fl_base_joint" type="fixed">
|
| 544 |
+
<origin xyz="0.233 0.3 0.7775" rpy="0.0 0.0 0.0" />
|
| 545 |
+
<parent link="footprint" />
|
| 546 |
+
<child link="fl_base_link" />
|
| 547 |
+
<axis xyz="0.0 0.0 1.0" />
|
| 548 |
+
</joint>
|
| 549 |
+
|
| 550 |
+
<link name="fl_link1">
|
| 551 |
+
<inertial>
|
| 552 |
+
<origin xyz="0.00625345254733769 -0.024776724575416 0.0152204909116542" rpy="0 0 0" />
|
| 553 |
+
<mass value="0.0216291264377367" />
|
| 554 |
+
<inertia
|
| 555 |
+
ixx="1.15756471313396E-05"
|
| 556 |
+
ixy="1.63728784702967E-06"
|
| 557 |
+
ixz="-2.73767909517805E-06"
|
| 558 |
+
iyy="9.54605859943272E-06"
|
| 559 |
+
iyz="3.01605409074901E-06"
|
| 560 |
+
izz="1.06781021447089E-05" />
|
| 561 |
+
</inertial>
|
| 562 |
+
<visual>
|
| 563 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 564 |
+
<geometry>
|
| 565 |
+
<mesh filename="aloha_maniskill_sim/meshes/link1.dae" />
|
| 566 |
+
</geometry>
|
| 567 |
+
<!-- <material name="black">
|
| 568 |
+
|
| 569 |
+
</material> -->
|
| 570 |
+
</visual>
|
| 571 |
+
<collision>
|
| 572 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 573 |
+
<geometry>
|
| 574 |
+
<mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
|
| 575 |
+
</geometry>
|
| 576 |
+
</collision>
|
| 577 |
+
</link>
|
| 578 |
+
<joint name="fl_joint1" type="revolute">
|
| 579 |
+
<origin xyz="0 0 0.058" rpy="0 0 0" />
|
| 580 |
+
<parent link="fl_base_link" />
|
| 581 |
+
<child link="fl_link1" />
|
| 582 |
+
<axis xyz="0 0 1" />
|
| 583 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 584 |
+
</joint>
|
| 585 |
+
<link name="fl_link2">
|
| 586 |
+
<inertial>
|
| 587 |
+
<origin xyz="-0.0751817740450955 3.45134309138919E-06 -4.55690287344823E-05" rpy="0 0 0" />
|
| 588 |
+
<mass value="0.317040634327494" />
|
| 589 |
+
<inertia
|
| 590 |
+
ixx="0.000148622978788109"
|
| 591 |
+
ixy="7.9939701538228E-06"
|
| 592 |
+
ixz="2.11594522192149E-06"
|
| 593 |
+
iyy="0.000646291918352959"
|
| 594 |
+
iyz="-1.99305353242084E-08"
|
| 595 |
+
izz="0.000613128041834933" />
|
| 596 |
+
</inertial>
|
| 597 |
+
<visual>
|
| 598 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 599 |
+
<geometry>
|
| 600 |
+
<mesh filename="aloha_maniskill_sim/meshes/link2.dae" />
|
| 601 |
+
</geometry>
|
| 602 |
+
<!-- <material name="black">
|
| 603 |
+
|
| 604 |
+
</material> -->
|
| 605 |
+
</visual>
|
| 606 |
+
<collision>
|
| 607 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 608 |
+
<geometry>
|
| 609 |
+
<mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
|
| 610 |
+
</geometry>
|
| 611 |
+
</collision>
|
| 612 |
+
</link>
|
| 613 |
+
<joint name="fl_joint2" type="revolute">
|
| 614 |
+
<origin xyz="0.025013 0.00060169 0.042" rpy="0 0 0" />
|
| 615 |
+
<parent link="fl_link1" />
|
| 616 |
+
<child link="fl_link2" />
|
| 617 |
+
<axis xyz="0 1 0" />
|
| 618 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 619 |
+
</joint>
|
| 620 |
+
<link name="fl_link3">
|
| 621 |
+
<inertial>
|
| 622 |
+
<origin xyz="0.0958977122336034 -8.54798924280289E-05 -0.0389029227802006" rpy="0 0 0" />
|
| 623 |
+
<mass value="0.475179901151789" />
|
| 624 |
+
<inertia
|
| 625 |
+
ixx="0.000245797731408424"
|
| 626 |
+
ixy="-1.18756934981885E-06"
|
| 627 |
+
ixz="-3.08627546217305E-07"
|
| 628 |
+
iyy="0.000848596965773723"
|
| 629 |
+
iyz="2.1655980060709E-07"
|
| 630 |
+
izz="0.00073290848648715" />
|
| 631 |
+
</inertial>
|
| 632 |
+
<visual>
|
| 633 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 634 |
+
<geometry>
|
| 635 |
+
<mesh filename="aloha_maniskill_sim/meshes/link3.dae" />
|
| 636 |
+
</geometry>
|
| 637 |
+
<!-- <material name="white">
|
| 638 |
+
<color rgba="0.752 0.7529 0.7529 1" />
|
| 639 |
+
</material> -->
|
| 640 |
+
</visual>
|
| 641 |
+
<collision>
|
| 642 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 643 |
+
<geometry>
|
| 644 |
+
<mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
|
| 645 |
+
</geometry>
|
| 646 |
+
</collision>
|
| 647 |
+
</link>
|
| 648 |
+
<joint name="fl_joint3" type="revolute">
|
| 649 |
+
<origin xyz="-0.26396 0.0044548 0" rpy="-3.1416 0 -0.015928" />
|
| 650 |
+
<parent link="fl_link2" />
|
| 651 |
+
<child link="fl_link3" />
|
| 652 |
+
<axis xyz="0 1 0" />
|
| 653 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 654 |
+
</joint>
|
| 655 |
+
<link name="fl_link4">
|
| 656 |
+
<inertial>
|
| 657 |
+
<origin xyz="0.0591385266744759 0.00278044811499105 -0.0552291926495377" rpy="0 0 0" />
|
| 658 |
+
<mass value="0.138133633872797" />
|
| 659 |
+
<inertia
|
| 660 |
+
ixx="5.6812931750694E-05"
|
| 661 |
+
ixy="3.18564570369191E-06"
|
| 662 |
+
ixz="3.31187610383292E-06"
|
| 663 |
+
iyy="5.56751697137782E-05"
|
| 664 |
+
iyz="-2.13897740775086E-06"
|
| 665 |
+
izz="6.42957251144152E-05" />
|
| 666 |
+
</inertial>
|
| 667 |
+
<visual>
|
| 668 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 669 |
+
<geometry>
|
| 670 |
+
<mesh filename="aloha_maniskill_sim/meshes/link4.dae" />
|
| 671 |
+
</geometry>
|
| 672 |
+
<!-- <material name="black">
|
| 673 |
+
|
| 674 |
+
</material> -->
|
| 675 |
+
</visual>
|
| 676 |
+
<collision>
|
| 677 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 678 |
+
<geometry>
|
| 679 |
+
<mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
|
| 680 |
+
</geometry>
|
| 681 |
+
</collision>
|
| 682 |
+
</link>
|
| 683 |
+
<joint name="fl_joint4" type="revolute">
|
| 684 |
+
<origin xyz="0.246 -0.00025 -0.06" rpy="0 0 0" />
|
| 685 |
+
<parent link="fl_link3" />
|
| 686 |
+
<child link="fl_link4" />
|
| 687 |
+
<axis xyz="0 1 0" />
|
| 688 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 689 |
+
</joint>
|
| 690 |
+
<link name="fl_link5">
|
| 691 |
+
<inertial>
|
| 692 |
+
<origin xyz="0.00870303426445659 -2.87406901246252E-05 0.0817957433312705" rpy="0 0 0" />
|
| 693 |
+
<mass value="0.126741777607625" />
|
| 694 |
+
<inertia
|
| 695 |
+
ixx="5.2870226427243E-05"
|
| 696 |
+
ixy="-3.41758559092594E-08"
|
| 697 |
+
ixz="1.05281937338646E-06"
|
| 698 |
+
iyy="4.14245046680039E-05"
|
| 699 |
+
iyz="-7.47381113966083E-08"
|
| 700 |
+
izz="4.46265559731496E-05" />
|
| 701 |
+
</inertial>
|
| 702 |
+
<visual>
|
| 703 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 704 |
+
<geometry>
|
| 705 |
+
<mesh filename="aloha_maniskill_sim/meshes/link5.dae" />
|
| 706 |
+
</geometry>
|
| 707 |
+
<!-- <material name="black">
|
| 708 |
+
|
| 709 |
+
</material> -->
|
| 710 |
+
</visual>
|
| 711 |
+
<collision>
|
| 712 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 713 |
+
<geometry>
|
| 714 |
+
<mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
|
| 715 |
+
</geometry>
|
| 716 |
+
</collision>
|
| 717 |
+
</link>
|
| 718 |
+
<joint name="fl_joint5" type="revolute">
|
| 719 |
+
<origin xyz="0.06775 0.0015 -0.0855" rpy="0 0 -0.015928" />
|
| 720 |
+
<parent link="fl_link4" />
|
| 721 |
+
<child link="fl_link5" />
|
| 722 |
+
<axis xyz="0 0 1" />
|
| 723 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 724 |
+
</joint>
|
| 725 |
+
<link name="fl_link6">
|
| 726 |
+
<inertial>
|
| 727 |
+
<origin xyz="0.038317562848284 -4.45000434657139E-05 0.00355875192843721" rpy="0 0 0" />
|
| 728 |
+
<mass value="0.142880100739169" />
|
| 729 |
+
<inertia
|
| 730 |
+
ixx="9.84190386012445E-05"
|
| 731 |
+
ixy="9.90777828593097E-08"
|
| 732 |
+
ixz="2.38841662850396E-07"
|
| 733 |
+
iyy="3.95328645641678E-05"
|
| 734 |
+
iyz="2.8992956673539E-07"
|
| 735 |
+
izz="8.4711562610471E-05" />
|
| 736 |
+
</inertial>
|
| 737 |
+
<visual>
|
| 738 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 739 |
+
<geometry>
|
| 740 |
+
<mesh filename="aloha_maniskill_sim/meshes/link6.dae" />
|
| 741 |
+
</geometry>
|
| 742 |
+
<!-- <material name="black">
|
| 743 |
+
|
| 744 |
+
</material> -->
|
| 745 |
+
</visual>
|
| 746 |
+
<collision>
|
| 747 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 748 |
+
<geometry>
|
| 749 |
+
<mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
|
| 750 |
+
</geometry>
|
| 751 |
+
</collision>
|
| 752 |
+
</link>
|
| 753 |
+
<joint name="fl_joint6" type="revolute">
|
| 754 |
+
<origin xyz="0.03095 0 0.0855" rpy="-3.1416 0 0" />
|
| 755 |
+
<parent link="fl_link5" />
|
| 756 |
+
<child link="fl_link6" />
|
| 757 |
+
<axis xyz="1 0 0" />
|
| 758 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 759 |
+
</joint>
|
| 760 |
+
|
| 761 |
+
<!-- 相机的链接 -->
|
| 762 |
+
<link name="left_camera">
|
| 763 |
+
<visual>
|
| 764 |
+
<origin xyz="0 -0.032 0" rpy="1.57 0 1.57"/>
|
| 765 |
+
<geometry>
|
| 766 |
+
<mesh filename="aloha_maniskill_sim/meshes/d435.dae" /> <!-- 根据D435相机的实际尺寸调整 -->
|
| 767 |
+
</geometry>
|
| 768 |
+
<!-- <material name="black">
|
| 769 |
+
<color rgba="0.8 0.8 0.8 1"/>
|
| 770 |
+
</material> -->
|
| 771 |
+
</visual>
|
| 772 |
+
<collision>
|
| 773 |
+
<origin xyz="0 -0.032 0" rpy="0 0 0"/>
|
| 774 |
+
<geometry>
|
| 775 |
+
<box size="0.025 0.090 0.025"/> <!-- 根据D435相机的实际尺寸调整 -->
|
| 776 |
+
</geometry>
|
| 777 |
+
</collision>
|
| 778 |
+
<inertial>
|
| 779 |
+
<mass value="0.1"/> <!-- 相机的估计质量 -->
|
| 780 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 781 |
+
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/> <!-- 估计的惯性张量 -->
|
| 782 |
+
</inertial>
|
| 783 |
+
</link>
|
| 784 |
+
|
| 785 |
+
<!-- 连接相机和末端执行器的关节 -->
|
| 786 |
+
<joint name="left_camera_joint" type="fixed">
|
| 787 |
+
<parent link="fl_link6"/>
|
| 788 |
+
<child link="left_camera"/>
|
| 789 |
+
<origin xyz="0.07 0.032 0.065" rpy="0 0.4 0"/> <!-- 根据相机的安装位置调整 -->
|
| 790 |
+
<!-- <origin xyz="0.07 0.032 0.06" rpy="0 0 0"/> 根据相机的安装位置调整 -->
|
| 791 |
+
</joint>
|
| 792 |
+
|
| 793 |
+
<link name="fl_link7">
|
| 794 |
+
<inertial>
|
| 795 |
+
<origin xyz="0.027797 -0.0017903 0.0014248" rpy="0 0 0" />
|
| 796 |
+
<mass value="0.034314" />
|
| 797 |
+
<inertia
|
| 798 |
+
ixx="1.0937E-05"
|
| 799 |
+
ixy="-1.462E-06"
|
| 800 |
+
ixz="8.5479E-07"
|
| 801 |
+
iyy="1.6542E-05"
|
| 802 |
+
iyz="-1.2607E-07"
|
| 803 |
+
izz="2.2005E-05" />
|
| 804 |
+
</inertial>
|
| 805 |
+
<visual>
|
| 806 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 807 |
+
<geometry>
|
| 808 |
+
<mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
|
| 809 |
+
</geometry>
|
| 810 |
+
<!-- <material name="black">
|
| 811 |
+
|
| 812 |
+
</material> -->
|
| 813 |
+
</visual>
|
| 814 |
+
<collision>
|
| 815 |
+
<origin xyz="-0.018 0.1 -0.03" rpy="1.5708 0 0" />
|
| 816 |
+
<geometry>
|
| 817 |
+
<mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
|
| 818 |
+
</geometry>
|
| 819 |
+
</collision>
|
| 820 |
+
</link>
|
| 821 |
+
<joint name="fl_joint7" type="prismatic">
|
| 822 |
+
<origin xyz="0.07 0.02 0" rpy="1.5708 0 0" />
|
| 823 |
+
<parent link="fl_link6" />
|
| 824 |
+
<child link="fl_link7" />
|
| 825 |
+
<axis xyz="0 0 -1" />
|
| 826 |
+
<limit lower="0" upper="0.04765" effort="100" velocity="1000" />
|
| 827 |
+
</joint>
|
| 828 |
+
<!--***************************** add ****************************** -->
|
| 829 |
+
<link
|
| 830 |
+
name="vtac_add_fl_Link7">
|
| 831 |
+
<inertial>
|
| 832 |
+
<origin
|
| 833 |
+
xyz="-0.00012031 -6.0135E-05 -0.0029026"
|
| 834 |
+
rpy="0 0 0" />
|
| 835 |
+
<mass
|
| 836 |
+
value="0.0027052" />
|
| 837 |
+
<inertia
|
| 838 |
+
ixx="1.5334E-07"
|
| 839 |
+
ixy="-6.2018E-11"
|
| 840 |
+
ixz="-6.0278E-10"
|
| 841 |
+
iyy="1.0648E-07"
|
| 842 |
+
iyz="-3.0133E-10"
|
| 843 |
+
izz="2.4837E-07" />
|
| 844 |
+
</inertial>
|
| 845 |
+
<visual>
|
| 846 |
+
<origin
|
| 847 |
+
xyz="0 0 0"
|
| 848 |
+
rpy="0 0 0" />
|
| 849 |
+
<geometry>
|
| 850 |
+
<mesh
|
| 851 |
+
filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
|
| 852 |
+
</geometry>
|
| 853 |
+
<material
|
| 854 |
+
name="">
|
| 855 |
+
<color
|
| 856 |
+
rgba="1 1 1 1" />
|
| 857 |
+
</material>
|
| 858 |
+
</visual>
|
| 859 |
+
<collision>
|
| 860 |
+
<origin
|
| 861 |
+
xyz="0 0 0"
|
| 862 |
+
rpy="0 0 0" />
|
| 863 |
+
<geometry>
|
| 864 |
+
<mesh
|
| 865 |
+
filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
|
| 866 |
+
</geometry>
|
| 867 |
+
</collision>
|
| 868 |
+
</link>
|
| 869 |
+
<joint
|
| 870 |
+
name="vtac_add_fl_Joint7"
|
| 871 |
+
type="fixed">
|
| 872 |
+
<origin
|
| 873 |
+
xyz="0.071712 0.00025002 0.017695"
|
| 874 |
+
rpy="0 0 0" />
|
| 875 |
+
<parent
|
| 876 |
+
link="fl_link7" />
|
| 877 |
+
<child
|
| 878 |
+
link="vtac_add_fl_Link7" />
|
| 879 |
+
<axis
|
| 880 |
+
xyz="0 0 0" />
|
| 881 |
+
</joint>
|
| 882 |
+
<!--***************************** add ****************************** -->
|
| 883 |
+
<link name="fl_link8">
|
| 884 |
+
<inertial>
|
| 885 |
+
<origin xyz="0.027797 -0.0017903 0.0014248" rpy="0 0 0" />
|
| 886 |
+
<mass value="0.034314" />
|
| 887 |
+
<inertia
|
| 888 |
+
ixx="1.0937E-05"
|
| 889 |
+
ixy="-1.462E-06"
|
| 890 |
+
ixz="8.5479E-07"
|
| 891 |
+
iyy="1.6542E-05"
|
| 892 |
+
iyz="-1.2607E-07"
|
| 893 |
+
izz="2.2005E-05" />
|
| 894 |
+
</inertial>
|
| 895 |
+
<visual>
|
| 896 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 897 |
+
<geometry>
|
| 898 |
+
<mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
|
| 899 |
+
</geometry>
|
| 900 |
+
|
| 901 |
+
<!-- <material name="black">
|
| 902 |
+
|
| 903 |
+
</material> -->
|
| 904 |
+
</visual>
|
| 905 |
+
<collision>
|
| 906 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 907 |
+
<geometry>
|
| 908 |
+
<mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
|
| 909 |
+
</geometry>
|
| 910 |
+
</collision>
|
| 911 |
+
</link>
|
| 912 |
+
<joint name="fl_joint8" type="prismatic">
|
| 913 |
+
<origin xyz="0.07 -0.02 0" rpy="-1.5708 0 0" />
|
| 914 |
+
<parent link="fl_link6" />
|
| 915 |
+
<child link="fl_link8" />
|
| 916 |
+
<axis xyz="0 0 -1" />
|
| 917 |
+
<limit lower="0" upper="0.04765" effort="100" velocity="1000" />
|
| 918 |
+
</joint>
|
| 919 |
+
<!--***************************** add ****************************** -->
|
| 920 |
+
<link
|
| 921 |
+
name="vtac_add_fl_Link8">
|
| 922 |
+
<inertial>
|
| 923 |
+
<origin
|
| 924 |
+
xyz="-0.00012031 -6.0135E-05 -0.0029026"
|
| 925 |
+
rpy="0 0 0" />
|
| 926 |
+
<mass
|
| 927 |
+
value="0.0027052" />
|
| 928 |
+
<inertia
|
| 929 |
+
ixx="1.5334E-07"
|
| 930 |
+
ixy="-6.2018E-11"
|
| 931 |
+
ixz="-6.0278E-10"
|
| 932 |
+
iyy="1.0648E-07"
|
| 933 |
+
iyz="-3.0133E-10"
|
| 934 |
+
izz="2.4837E-07" />
|
| 935 |
+
</inertial>
|
| 936 |
+
<visual>
|
| 937 |
+
<origin
|
| 938 |
+
xyz="0 0 0"
|
| 939 |
+
rpy="0 0 0" />
|
| 940 |
+
<geometry>
|
| 941 |
+
<mesh
|
| 942 |
+
filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
|
| 943 |
+
</geometry>
|
| 944 |
+
<material
|
| 945 |
+
name="">
|
| 946 |
+
<color
|
| 947 |
+
rgba="1 1 1 1" />
|
| 948 |
+
</material>
|
| 949 |
+
</visual>
|
| 950 |
+
<collision>
|
| 951 |
+
<origin
|
| 952 |
+
xyz="0 0 0"
|
| 953 |
+
rpy="0 0 0" />
|
| 954 |
+
<geometry>
|
| 955 |
+
<mesh
|
| 956 |
+
filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
|
| 957 |
+
</geometry>
|
| 958 |
+
</collision>
|
| 959 |
+
</link>
|
| 960 |
+
<joint
|
| 961 |
+
name="vtac_add_fl_Joint9"
|
| 962 |
+
type="fixed">
|
| 963 |
+
<origin
|
| 964 |
+
xyz="0.071712 0.00025002 0.017695"
|
| 965 |
+
rpy="0 0 0" />
|
| 966 |
+
<parent
|
| 967 |
+
link="fl_link8" />
|
| 968 |
+
<child
|
| 969 |
+
link="vtac_add_fl_Link8" />
|
| 970 |
+
<axis
|
| 971 |
+
xyz="0 0 0" />
|
| 972 |
+
</joint>
|
| 973 |
+
<!--***************************** add ****************************** -->
|
| 974 |
+
<!--***************************** front-right ****************************** -->
|
| 975 |
+
<link name="fr_base_link">
|
| 976 |
+
<inertial>
|
| 977 |
+
<origin xyz="-3.77960552443097E-05 6.79413834922362E-05 0.0272675975957773" rpy="0 0 0" />
|
| 978 |
+
<mass value="0.155112526591278" />
|
| 979 |
+
<inertia ixx="7.60347373757683E-05" ixy="1.31363578468253E-07" ixz="1.65990805634842E-07" iyy="7.64176389864096E-05" iyz="-2.98381448658278E-07" izz="6.94914158355665E-05" />
|
| 980 |
+
</inertial>
|
| 981 |
+
<visual>
|
| 982 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 983 |
+
<geometry>
|
| 984 |
+
<mesh filename="aloha_maniskill_sim/meshes/base_arm.dae" />
|
| 985 |
+
</geometry>
|
| 986 |
+
<!-- <material name="black">
|
| 987 |
+
|
| 988 |
+
</material> -->
|
| 989 |
+
</visual>
|
| 990 |
+
<collision>
|
| 991 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 992 |
+
<geometry>
|
| 993 |
+
<mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
|
| 994 |
+
</geometry>
|
| 995 |
+
</collision>
|
| 996 |
+
</link>
|
| 997 |
+
|
| 998 |
+
<joint name="fr_base_joint" type="fixed">
|
| 999 |
+
<origin xyz="0.233 -0.3 0.7775" rpy="0.0 0.0 0.0" />
|
| 1000 |
+
<parent link="footprint" />
|
| 1001 |
+
<child link="fr_base_link" />
|
| 1002 |
+
<axis xyz="0.0 0.0 1.0" />
|
| 1003 |
+
</joint>
|
| 1004 |
+
|
| 1005 |
+
<link name="fr_link1">
|
| 1006 |
+
<inertial>
|
| 1007 |
+
<origin xyz="0.00625345254733769 -0.024776724575416 0.0152204909116542" rpy="0 0 0" />
|
| 1008 |
+
<mass value="0.0216291264377367" />
|
| 1009 |
+
<inertia
|
| 1010 |
+
ixx="1.15756471313396E-05"
|
| 1011 |
+
ixy="1.63728784702967E-06"
|
| 1012 |
+
ixz="-2.73767909517805E-06"
|
| 1013 |
+
iyy="9.54605859943272E-06"
|
| 1014 |
+
iyz="3.01605409074901E-06"
|
| 1015 |
+
izz="1.06781021447089E-05" />
|
| 1016 |
+
</inertial>
|
| 1017 |
+
<visual>
|
| 1018 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1019 |
+
<geometry>
|
| 1020 |
+
<mesh filename="aloha_maniskill_sim/meshes/link1.dae" />
|
| 1021 |
+
</geometry>
|
| 1022 |
+
<!-- <material name="black">
|
| 1023 |
+
|
| 1024 |
+
</material> -->
|
| 1025 |
+
</visual>
|
| 1026 |
+
<collision>
|
| 1027 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1028 |
+
<geometry>
|
| 1029 |
+
<mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
|
| 1030 |
+
</geometry>
|
| 1031 |
+
</collision>
|
| 1032 |
+
</link>
|
| 1033 |
+
<joint name="fr_joint1" type="revolute">
|
| 1034 |
+
<origin xyz="0 0 0.058" rpy="0 0 0" />
|
| 1035 |
+
<parent link="fr_base_link" />
|
| 1036 |
+
<child link="fr_link1" />
|
| 1037 |
+
<axis xyz="0 0 1" />
|
| 1038 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1039 |
+
</joint>
|
| 1040 |
+
<link
|
| 1041 |
+
name="fr_link2">
|
| 1042 |
+
<inertial>
|
| 1043 |
+
<origin xyz="-0.0751817740450955 3.45134309138919E-06 -4.55690287344823E-05" rpy="0 0 0" />
|
| 1044 |
+
<mass value="0.317040634327494" />
|
| 1045 |
+
<inertia
|
| 1046 |
+
ixx="0.000148622978788109"
|
| 1047 |
+
ixy="7.9939701538228E-06"
|
| 1048 |
+
ixz="2.11594522192149E-06"
|
| 1049 |
+
iyy="0.000646291918352959"
|
| 1050 |
+
iyz="-1.99305353242084E-08"
|
| 1051 |
+
izz="0.000613128041834933" />
|
| 1052 |
+
</inertial>
|
| 1053 |
+
<visual>
|
| 1054 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1055 |
+
<geometry>
|
| 1056 |
+
<mesh filename="aloha_maniskill_sim/meshes/link2.dae" />
|
| 1057 |
+
</geometry>
|
| 1058 |
+
<!-- <material name="black">
|
| 1059 |
+
|
| 1060 |
+
</material> -->
|
| 1061 |
+
</visual>
|
| 1062 |
+
<collision>
|
| 1063 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1064 |
+
<geometry>
|
| 1065 |
+
<mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
|
| 1066 |
+
</geometry>
|
| 1067 |
+
</collision>
|
| 1068 |
+
</link>
|
| 1069 |
+
<joint name="fr_joint2" type="revolute">
|
| 1070 |
+
<origin xyz="0.025013 0.00060169 0.042" rpy="0 0 0" />
|
| 1071 |
+
<parent link="fr_link1" />
|
| 1072 |
+
<child link="fr_link2" />
|
| 1073 |
+
<axis xyz="0 1 0" />
|
| 1074 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1075 |
+
</joint>
|
| 1076 |
+
<link
|
| 1077 |
+
name="fr_link3">
|
| 1078 |
+
<inertial>
|
| 1079 |
+
<origin xyz="0.0958977122336034 -8.54798924280289E-05 -0.0389029227802006" rpy="0 0 0" />
|
| 1080 |
+
<mass value="0.475179901151789" />
|
| 1081 |
+
<inertia
|
| 1082 |
+
ixx="0.000245797731408424"
|
| 1083 |
+
ixy="-1.18756934981885E-06"
|
| 1084 |
+
ixz="-3.08627546217305E-07"
|
| 1085 |
+
iyy="0.000848596965773723"
|
| 1086 |
+
iyz="2.1655980060709E-07"
|
| 1087 |
+
izz="0.00073290848648715" />
|
| 1088 |
+
</inertial>
|
| 1089 |
+
<visual>
|
| 1090 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1091 |
+
<geometry>
|
| 1092 |
+
<mesh filename="aloha_maniskill_sim/meshes/link3.dae" />
|
| 1093 |
+
</geometry>
|
| 1094 |
+
<!-- <material name="white">
|
| 1095 |
+
|
| 1096 |
+
</material> -->
|
| 1097 |
+
</visual>
|
| 1098 |
+
<collision>
|
| 1099 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1100 |
+
<geometry>
|
| 1101 |
+
<mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
|
| 1102 |
+
</geometry>
|
| 1103 |
+
</collision>
|
| 1104 |
+
</link>
|
| 1105 |
+
<joint name="fr_joint3" type="revolute">
|
| 1106 |
+
<origin xyz="-0.26396 0.0044548 0" rpy="-3.1416 0 -0.015928" />
|
| 1107 |
+
<parent link="fr_link2" />
|
| 1108 |
+
<child link="fr_link3" />
|
| 1109 |
+
<axis xyz="0 1 0" />
|
| 1110 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1111 |
+
</joint>
|
| 1112 |
+
<link
|
| 1113 |
+
name="fr_link4">
|
| 1114 |
+
<inertial>
|
| 1115 |
+
<origin xyz="0.0591385266744759 0.00278044811499105 -0.0552291926495377" rpy="0 0 0" />
|
| 1116 |
+
<mass value="0.138133633872797" />
|
| 1117 |
+
<inertia
|
| 1118 |
+
ixx="5.6812931750694E-05"
|
| 1119 |
+
ixy="3.18564570369191E-06"
|
| 1120 |
+
ixz="3.31187610383292E-06"
|
| 1121 |
+
iyy="5.56751697137782E-05"
|
| 1122 |
+
iyz="-2.13897740775086E-06"
|
| 1123 |
+
izz="6.42957251144152E-05" />
|
| 1124 |
+
</inertial>
|
| 1125 |
+
<visual>
|
| 1126 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1127 |
+
<geometry>
|
| 1128 |
+
<mesh filename="aloha_maniskill_sim/meshes/link4.dae" />
|
| 1129 |
+
</geometry>
|
| 1130 |
+
<!-- <material name="black">
|
| 1131 |
+
|
| 1132 |
+
</material> -->
|
| 1133 |
+
</visual>
|
| 1134 |
+
<collision>
|
| 1135 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1136 |
+
<geometry>
|
| 1137 |
+
<mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
|
| 1138 |
+
</geometry>
|
| 1139 |
+
</collision>
|
| 1140 |
+
</link>
|
| 1141 |
+
<joint name="fr_joint4" type="revolute">
|
| 1142 |
+
<origin xyz="0.246 -0.00025 -0.06" rpy="0 0 0" />
|
| 1143 |
+
<parent link="fr_link3" />
|
| 1144 |
+
<child link="fr_link4" />
|
| 1145 |
+
<axis xyz="0 1 0" />
|
| 1146 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1147 |
+
</joint>
|
| 1148 |
+
<link
|
| 1149 |
+
name="fr_link5">
|
| 1150 |
+
<inertial>
|
| 1151 |
+
<origin xyz="0.00870303426445659 -2.87406901246252E-05 0.0817957433312705" rpy="0 0 0" />
|
| 1152 |
+
<mass value="0.126741777607625" />
|
| 1153 |
+
<inertia
|
| 1154 |
+
ixx="5.2870226427243E-05"
|
| 1155 |
+
ixy="-3.41758559092594E-08"
|
| 1156 |
+
ixz="1.05281937338646E-06"
|
| 1157 |
+
iyy="4.14245046680039E-05"
|
| 1158 |
+
iyz="-7.47381113966083E-08"
|
| 1159 |
+
izz="4.46265559731496E-05" />
|
| 1160 |
+
</inertial>
|
| 1161 |
+
<visual>
|
| 1162 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1163 |
+
<geometry>
|
| 1164 |
+
<mesh filename="aloha_maniskill_sim/meshes/link5.dae" />
|
| 1165 |
+
</geometry>
|
| 1166 |
+
<!-- <material name="black">
|
| 1167 |
+
|
| 1168 |
+
</material> -->
|
| 1169 |
+
</visual>
|
| 1170 |
+
<collision>
|
| 1171 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1172 |
+
<geometry>
|
| 1173 |
+
<mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
|
| 1174 |
+
</geometry>
|
| 1175 |
+
</collision>
|
| 1176 |
+
</link>
|
| 1177 |
+
<joint name="fr_joint5" type="revolute">
|
| 1178 |
+
<origin xyz="0.06775 0.0015 -0.0855" rpy="0 0 -0.015928" />
|
| 1179 |
+
<parent link="fr_link4" />
|
| 1180 |
+
<child link="fr_link5" />
|
| 1181 |
+
<axis xyz="0 0 1" />
|
| 1182 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1183 |
+
</joint>
|
| 1184 |
+
<link name="fr_link6">
|
| 1185 |
+
<inertial>
|
| 1186 |
+
<origin xyz="0.038317562848284 -4.45000434657139E-05 0.00355875192843721" rpy="0 0 0" />
|
| 1187 |
+
<mass value="0.142880100739169" />
|
| 1188 |
+
<inertia
|
| 1189 |
+
ixx="9.84190386012445E-05"
|
| 1190 |
+
ixy="9.90777828593097E-08"
|
| 1191 |
+
ixz="2.38841662850396E-07"
|
| 1192 |
+
iyy="3.95328645641678E-05"
|
| 1193 |
+
iyz="2.8992956673539E-07"
|
| 1194 |
+
izz="8.4711562610471E-05" />
|
| 1195 |
+
</inertial>
|
| 1196 |
+
<visual>
|
| 1197 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1198 |
+
<geometry>
|
| 1199 |
+
<mesh filename="aloha_maniskill_sim/meshes/link6.dae" />
|
| 1200 |
+
</geometry>
|
| 1201 |
+
<!-- <material name="black">
|
| 1202 |
+
</material> -->
|
| 1203 |
+
</visual>
|
| 1204 |
+
<collision>
|
| 1205 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1206 |
+
<geometry>
|
| 1207 |
+
<mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
|
| 1208 |
+
</geometry>
|
| 1209 |
+
</collision>
|
| 1210 |
+
</link>
|
| 1211 |
+
<joint name="fr_joint6" type="revolute">
|
| 1212 |
+
<origin xyz="0.03095 0 0.0855" rpy="-3.1416 0 0" />
|
| 1213 |
+
<parent link="fr_link5" />
|
| 1214 |
+
<child link="fr_link6" />
|
| 1215 |
+
<axis xyz="1 0 0" />
|
| 1216 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1217 |
+
</joint>
|
| 1218 |
+
|
| 1219 |
+
|
| 1220 |
+
<!-- 相机的链接 -->
|
| 1221 |
+
<link name="right_camera">
|
| 1222 |
+
<visual>
|
| 1223 |
+
<origin xyz="0 -0.032 0" rpy="1.57 0 1.57"/>
|
| 1224 |
+
<geometry>
|
| 1225 |
+
<mesh filename="aloha_maniskill_sim/meshes/d435.dae" /> <!-- 根据D435相机的实际尺寸调整 -->
|
| 1226 |
+
</geometry>
|
| 1227 |
+
<!-- <material name="black">
|
| 1228 |
+
<color rgba="0 0 0.1 1"/>
|
| 1229 |
+
</material> -->
|
| 1230 |
+
</visual>
|
| 1231 |
+
<collision>
|
| 1232 |
+
<origin xyz="0 -0.032 0" rpy="0 0 0"/>
|
| 1233 |
+
<geometry>
|
| 1234 |
+
<box size="0.025 0.090 0.025"/> <!-- 根据D435相机的实际尺寸调整 -->
|
| 1235 |
+
</geometry>
|
| 1236 |
+
</collision>
|
| 1237 |
+
<inertial>
|
| 1238 |
+
<mass value="0.1"/> <!-- 相机的估计质量 -->
|
| 1239 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 1240 |
+
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/> <!-- 估计的惯性张量 -->
|
| 1241 |
+
</inertial>
|
| 1242 |
+
</link>
|
| 1243 |
+
|
| 1244 |
+
<!-- 连接相机和末端执行器的关节 -->
|
| 1245 |
+
<joint name="right_camera_joint" type="fixed">
|
| 1246 |
+
<parent link="fr_link6"/>
|
| 1247 |
+
<child link="right_camera"/>
|
| 1248 |
+
<origin xyz="0.07 0.032 0.065" rpy="0 0.4 0"/> <!-- 根据相机的安装位置调整 -->
|
| 1249 |
+
</joint>
|
| 1250 |
+
|
| 1251 |
+
<link name="fr_link7">
|
| 1252 |
+
<inertial>
|
| 1253 |
+
<origin xyz="0.027797 -0.0017903 0.0014248" rpy="0 0 0" />
|
| 1254 |
+
<mass value="0.034314" />
|
| 1255 |
+
<inertia
|
| 1256 |
+
ixx="1.0937E-05"
|
| 1257 |
+
ixy="-1.462E-06"
|
| 1258 |
+
ixz="8.5479E-07"
|
| 1259 |
+
iyy="1.6542E-05"
|
| 1260 |
+
iyz="-1.2607E-07"
|
| 1261 |
+
izz="2.2005E-05" />
|
| 1262 |
+
</inertial>
|
| 1263 |
+
<visual>
|
| 1264 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1265 |
+
<geometry>
|
| 1266 |
+
<mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
|
| 1267 |
+
</geometry>
|
| 1268 |
+
<!-- <material name="black">
|
| 1269 |
+
</material> -->
|
| 1270 |
+
</visual>
|
| 1271 |
+
<collision>
|
| 1272 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1273 |
+
<geometry>
|
| 1274 |
+
<mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
|
| 1275 |
+
</geometry>
|
| 1276 |
+
</collision>
|
| 1277 |
+
</link>
|
| 1278 |
+
<joint name="fr_joint7" type="prismatic">
|
| 1279 |
+
<origin xyz="0.07 0.02 0" rpy="1.5708 0 0" />
|
| 1280 |
+
<parent link="fr_link6" />
|
| 1281 |
+
<child link="fr_link7" />
|
| 1282 |
+
<axis xyz="0 0 -1" />
|
| 1283 |
+
<limit lower="0" upper="0.04765" effort="100" velocity="1000" />
|
| 1284 |
+
</joint>
|
| 1285 |
+
<!--***************************** add ****************************** -->
|
| 1286 |
+
<link
|
| 1287 |
+
name="vtac_add_fr_Link7">
|
| 1288 |
+
<inertial>
|
| 1289 |
+
<origin
|
| 1290 |
+
xyz="-0.00012031 -6.0135E-05 -0.0029026"
|
| 1291 |
+
rpy="0 0 0" />
|
| 1292 |
+
<mass
|
| 1293 |
+
value="0.0027052" />
|
| 1294 |
+
<inertia
|
| 1295 |
+
ixx="1.5334E-07"
|
| 1296 |
+
ixy="-6.2018E-11"
|
| 1297 |
+
ixz="-6.0278E-10"
|
| 1298 |
+
iyy="1.0648E-07"
|
| 1299 |
+
iyz="-3.0133E-10"
|
| 1300 |
+
izz="2.4837E-07" />
|
| 1301 |
+
</inertial>
|
| 1302 |
+
<visual>
|
| 1303 |
+
<origin
|
| 1304 |
+
xyz="0 0 0"
|
| 1305 |
+
rpy="0 0 0" />
|
| 1306 |
+
<geometry>
|
| 1307 |
+
<mesh
|
| 1308 |
+
filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
|
| 1309 |
+
</geometry>
|
| 1310 |
+
<material
|
| 1311 |
+
name="">
|
| 1312 |
+
<color
|
| 1313 |
+
rgba="1 1 1 1" />
|
| 1314 |
+
</material>
|
| 1315 |
+
</visual>
|
| 1316 |
+
<collision>
|
| 1317 |
+
<origin
|
| 1318 |
+
xyz="0 0 0"
|
| 1319 |
+
rpy="0 0 0" />
|
| 1320 |
+
<geometry>
|
| 1321 |
+
<mesh
|
| 1322 |
+
filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
|
| 1323 |
+
</geometry>
|
| 1324 |
+
</collision>
|
| 1325 |
+
</link>
|
| 1326 |
+
<joint
|
| 1327 |
+
name="vtac_add_fr_Joint7"
|
| 1328 |
+
type="fixed">
|
| 1329 |
+
<origin
|
| 1330 |
+
xyz="0.071712 0.00025002 0.017695"
|
| 1331 |
+
rpy="0 0 0" />
|
| 1332 |
+
<parent
|
| 1333 |
+
link="fr_link7" />
|
| 1334 |
+
<child
|
| 1335 |
+
link="vtac_add_fr_Link7" />
|
| 1336 |
+
<axis
|
| 1337 |
+
xyz="0 0 0" />
|
| 1338 |
+
</joint>
|
| 1339 |
+
<!--***************************** add ****************************** -->
|
| 1340 |
+
<link name="fr_link8">
|
| 1341 |
+
<inertial>
|
| 1342 |
+
<origin xyz="0.027797 -0.0017903 0.0014248" rpy="0 0 0" />
|
| 1343 |
+
<mass value="0.034314" />
|
| 1344 |
+
<inertia
|
| 1345 |
+
ixx="1.0937E-05"
|
| 1346 |
+
ixy="-1.462E-06"
|
| 1347 |
+
ixz="8.5479E-07"
|
| 1348 |
+
iyy="1.6542E-05"
|
| 1349 |
+
iyz="-1.2607E-07"
|
| 1350 |
+
izz="2.2005E-05" />
|
| 1351 |
+
</inertial>
|
| 1352 |
+
<visual>
|
| 1353 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1354 |
+
<geometry>
|
| 1355 |
+
<mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
|
| 1356 |
+
</geometry>
|
| 1357 |
+
<!-- <material name="black">
|
| 1358 |
+
</material> -->
|
| 1359 |
+
</visual>
|
| 1360 |
+
<collision>
|
| 1361 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1362 |
+
<geometry>
|
| 1363 |
+
<mesh filename="aloha_maniskill_sim/meshes/gelsight_cobotmagic_link8.STL" />
|
| 1364 |
+
</geometry>
|
| 1365 |
+
</collision>
|
| 1366 |
+
</link>
|
| 1367 |
+
<joint name="fr_joint8" type="prismatic">
|
| 1368 |
+
<origin xyz="0.07 -0.02 0" rpy="-1.5708 0 0" />
|
| 1369 |
+
<parent link="fr_link6" />
|
| 1370 |
+
<child link="fr_link8" />
|
| 1371 |
+
<axis xyz="0 0 -1" />
|
| 1372 |
+
<limit lower="0" upper="0.04765" effort="100" velocity="1000" />
|
| 1373 |
+
</joint>
|
| 1374 |
+
<!--***************************** add ****************************** -->
|
| 1375 |
+
<link
|
| 1376 |
+
name="vtac_add_fr_Link8">
|
| 1377 |
+
<inertial>
|
| 1378 |
+
<origin
|
| 1379 |
+
xyz="-0.00012031 -6.0135E-05 -0.0029026"
|
| 1380 |
+
rpy="0 0 0" />
|
| 1381 |
+
<mass
|
| 1382 |
+
value="0.0027052" />
|
| 1383 |
+
<inertia
|
| 1384 |
+
ixx="1.5334E-07"
|
| 1385 |
+
ixy="-6.2018E-11"
|
| 1386 |
+
ixz="-6.0278E-10"
|
| 1387 |
+
iyy="1.0648E-07"
|
| 1388 |
+
iyz="-3.0133E-10"
|
| 1389 |
+
izz="2.4837E-07" />
|
| 1390 |
+
</inertial>
|
| 1391 |
+
<visual>
|
| 1392 |
+
<origin
|
| 1393 |
+
xyz="0 0 0"
|
| 1394 |
+
rpy="0 0 0" />
|
| 1395 |
+
<geometry>
|
| 1396 |
+
<mesh
|
| 1397 |
+
filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
|
| 1398 |
+
</geometry>
|
| 1399 |
+
<material
|
| 1400 |
+
name="">
|
| 1401 |
+
<color
|
| 1402 |
+
rgba="1 1 1 1" />
|
| 1403 |
+
</material>
|
| 1404 |
+
</visual>
|
| 1405 |
+
<collision>
|
| 1406 |
+
<origin
|
| 1407 |
+
xyz="0 0 0"
|
| 1408 |
+
rpy="0 0 0" />
|
| 1409 |
+
<geometry>
|
| 1410 |
+
<mesh
|
| 1411 |
+
filename="aloha_maniskill_sim/meshes/VisionTactileSensor_Link.STL" />
|
| 1412 |
+
</geometry>
|
| 1413 |
+
</collision>
|
| 1414 |
+
</link>
|
| 1415 |
+
<joint
|
| 1416 |
+
name="vtac_add_fr_Joint9"
|
| 1417 |
+
type="fixed">
|
| 1418 |
+
<origin
|
| 1419 |
+
xyz="0.071712 0.00025002 0.017695"
|
| 1420 |
+
rpy="0 0 0" />
|
| 1421 |
+
<parent
|
| 1422 |
+
link="fr_link8" />
|
| 1423 |
+
<child
|
| 1424 |
+
link="vtac_add_fr_Link8" />
|
| 1425 |
+
<axis
|
| 1426 |
+
xyz="0 0 0" />
|
| 1427 |
+
</joint>
|
| 1428 |
+
<!--***************************** add ****************************** -->
|
| 1429 |
+
<!--***************************** left-rear ****************************** -->
|
| 1430 |
+
<link name="lr_base_link">
|
| 1431 |
+
<inertial>
|
| 1432 |
+
<origin xyz="-2.9972E-05 3.056E-05 0.027301" rpy="0 0 0" />
|
| 1433 |
+
<mass value="0.44038" />
|
| 1434 |
+
<inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00018" iyz="0.00000" izz="0.00016" />
|
| 1435 |
+
</inertial>
|
| 1436 |
+
<visual>
|
| 1437 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1438 |
+
<geometry>
|
| 1439 |
+
<mesh filename="aloha_maniskill_sim/meshes/base_arm.dae" />
|
| 1440 |
+
</geometry>
|
| 1441 |
+
<!-- <material name="black">
|
| 1442 |
+
<color rgba="0.75294 0.75294 0.75294 1" />
|
| 1443 |
+
</material> -->
|
| 1444 |
+
</visual>
|
| 1445 |
+
<collision>
|
| 1446 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1447 |
+
<geometry>
|
| 1448 |
+
<mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
|
| 1449 |
+
</geometry>
|
| 1450 |
+
</collision>
|
| 1451 |
+
</link>
|
| 1452 |
+
<joint name="lr_base_joint" type="fixed">
|
| 1453 |
+
<origin xyz="-0.309 0.307 0.903" rpy="0.0 0.0 0.0" />
|
| 1454 |
+
<parent link="footprint" />
|
| 1455 |
+
<child link="lr_base_link" />
|
| 1456 |
+
<axis xyz="0.0 0.0 1.0" />
|
| 1457 |
+
</joint>
|
| 1458 |
+
<link name="lr_link1">
|
| 1459 |
+
<inertial>
|
| 1460 |
+
<origin xyz="0.00609525411893452 -0.00429681977500749 0.0179590247477389" rpy="0 0 0" />
|
| 1461 |
+
<mass value="0.0608351104988555" />
|
| 1462 |
+
<inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00007" />
|
| 1463 |
+
</inertial>
|
| 1464 |
+
<visual>
|
| 1465 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1466 |
+
<geometry>
|
| 1467 |
+
<mesh filename="aloha_maniskill_sim/meshes/link1.dae" />
|
| 1468 |
+
</geometry>
|
| 1469 |
+
<!-- <material name="black">
|
| 1470 |
+
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1471 |
+
</material> -->
|
| 1472 |
+
</visual>
|
| 1473 |
+
<collision>
|
| 1474 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1475 |
+
<geometry>
|
| 1476 |
+
<mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
|
| 1477 |
+
</geometry>
|
| 1478 |
+
</collision>
|
| 1479 |
+
</link>
|
| 1480 |
+
<joint name="lr_joint1" type="revolute">
|
| 1481 |
+
<origin xyz="0 0 0.0603" rpy="0 0 0" />
|
| 1482 |
+
<parent link="lr_base_link" />
|
| 1483 |
+
<child link="lr_link1" />
|
| 1484 |
+
<axis xyz="0 0 1" />
|
| 1485 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1486 |
+
</joint>
|
| 1487 |
+
<link name="lr_link2">
|
| 1488 |
+
<inertial>
|
| 1489 |
+
<origin xyz="-0.132382037190567 0.00220380675553821 0.000111790164679923" rpy="0 0 0" />
|
| 1490 |
+
<mass value="1.0733279014126" />
|
| 1491 |
+
<inertia ixx="0.00050" ixy="0.00000" ixz="-0.00004" iyy="0.01596" iyz="0.00000" izz="0.01602" />
|
| 1492 |
+
</inertial>
|
| 1493 |
+
<visual>
|
| 1494 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1495 |
+
<geometry>
|
| 1496 |
+
<mesh filename="aloha_maniskill_sim/meshes/link2.dae" />
|
| 1497 |
+
</geometry>
|
| 1498 |
+
<!-- <material name="black">
|
| 1499 |
+
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1500 |
+
</material> -->
|
| 1501 |
+
</visual>
|
| 1502 |
+
<collision>
|
| 1503 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1504 |
+
<geometry>
|
| 1505 |
+
<mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
|
| 1506 |
+
</geometry>
|
| 1507 |
+
</collision>
|
| 1508 |
+
</link>
|
| 1509 |
+
<joint name="lr_joint2" type="revolute">
|
| 1510 |
+
<origin xyz="0.02 0 0.0402" rpy="0 0 0" />
|
| 1511 |
+
<parent link="lr_link1" />
|
| 1512 |
+
<child link="lr_link2" />
|
| 1513 |
+
<axis xyz="0 1 0" />
|
| 1514 |
+
<dynamics damping="0.0" friction="100.0"/>
|
| 1515 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1516 |
+
</joint>
|
| 1517 |
+
<link name="lr_link3">
|
| 1518 |
+
<inertial>
|
| 1519 |
+
<origin xyz="0.187203287369961 -0.000305676361444925 -0.0514832866415513" rpy="0 0 0" />
|
| 1520 |
+
<mass value="0.499404738025019" />
|
| 1521 |
+
<inertia ixx="0.00033" ixy="-0.00006" ixz="-0.00039" iyy="0.00387" iyz="0.00001" izz="0.00383" />
|
| 1522 |
+
</inertial>
|
| 1523 |
+
<visual>
|
| 1524 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1525 |
+
<geometry>
|
| 1526 |
+
<mesh filename="aloha_maniskill_sim/meshes/link3.dae" />
|
| 1527 |
+
</geometry>
|
| 1528 |
+
<!-- <material name="white">
|
| 1529 |
+
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1530 |
+
</material> -->
|
| 1531 |
+
</visual>
|
| 1532 |
+
<collision>
|
| 1533 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1534 |
+
<geometry>
|
| 1535 |
+
<mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
|
| 1536 |
+
</geometry>
|
| 1537 |
+
</collision>
|
| 1538 |
+
</link>
|
| 1539 |
+
<joint name="lr_joint3" type="revolute">
|
| 1540 |
+
<origin xyz="-0.264 0 0" rpy="-3.1416 0 0" />
|
| 1541 |
+
<parent link="lr_link2" />
|
| 1542 |
+
<child link="lr_link3" />
|
| 1543 |
+
<axis xyz="0 1 0" />
|
| 1544 |
+
<dynamics damping="0.0" friction="100.0"/>
|
| 1545 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1546 |
+
</joint>
|
| 1547 |
+
<link name="lr_link4">
|
| 1548 |
+
<inertial>
|
| 1549 |
+
<origin xyz="0.0388884702662706 0.00295168681334743 -0.0353282735009622" rpy="0 0 0" />
|
| 1550 |
+
<mass value="0.0809712553169999" />
|
| 1551 |
+
<inertia ixx="0.00013" ixy="-0.00001" ixz="-0.00006" iyy="0.00016" iyz="0.00001" izz="0.00010" />
|
| 1552 |
+
</inertial>
|
| 1553 |
+
<visual>
|
| 1554 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1555 |
+
<geometry>
|
| 1556 |
+
<mesh filename="aloha_maniskill_sim/meshes/link4.dae" />
|
| 1557 |
+
</geometry>
|
| 1558 |
+
<!-- <material name="black">
|
| 1559 |
+
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
|
| 1560 |
+
</material> -->
|
| 1561 |
+
</visual>
|
| 1562 |
+
<collision>
|
| 1563 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1564 |
+
<geometry>
|
| 1565 |
+
<mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
|
| 1566 |
+
</geometry>
|
| 1567 |
+
</collision>
|
| 1568 |
+
</link>
|
| 1569 |
+
<joint name="lr_joint4" type="revolute">
|
| 1570 |
+
<origin xyz="0.245 0 -0.056" rpy="0 0 0" />
|
| 1571 |
+
<parent link="lr_link3" />
|
| 1572 |
+
<child link="lr_link4" />
|
| 1573 |
+
<axis xyz="0 1 0" />
|
| 1574 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1575 |
+
</joint>
|
| 1576 |
+
<link name="lr_link5">
|
| 1577 |
+
<inertial>
|
| 1578 |
+
<origin xyz="0.00289956909960302 3.15826689885766E-05 0.0526188859211408" rpy="0 0 0" />
|
| 1579 |
+
<mass value="0.602357399313257" />
|
| 1580 |
+
<inertia ixx="0.00072" ixy="0.00000" ixz="0.00005" iyy="0.00069" iyz="0.00000" izz="0.00021" />
|
| 1581 |
+
</inertial>
|
| 1582 |
+
<visual>
|
| 1583 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1584 |
+
<geometry>
|
| 1585 |
+
<mesh filename="aloha_maniskill_sim/meshes/link5.dae" />
|
| 1586 |
+
</geometry>
|
| 1587 |
+
<!-- <material name="black">
|
| 1588 |
+
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1589 |
+
</material> -->
|
| 1590 |
+
</visual>
|
| 1591 |
+
<collision>
|
| 1592 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1593 |
+
<geometry>
|
| 1594 |
+
<mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
|
| 1595 |
+
</geometry>
|
| 1596 |
+
</collision>
|
| 1597 |
+
</link>
|
| 1598 |
+
<joint name="lr_joint5" type="revolute">
|
| 1599 |
+
<origin xyz="0.06575 -0.001 -0.0825" rpy="0 0 0" />
|
| 1600 |
+
<parent link="lr_link4" />
|
| 1601 |
+
<child link="lr_link5" />
|
| 1602 |
+
<axis xyz="0 0 1" />
|
| 1603 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1604 |
+
</joint>
|
| 1605 |
+
<link name="lr_link6">
|
| 1606 |
+
<inertial>
|
| 1607 |
+
<origin xyz="0.0471798400661976 0.000102970421835668 -0.000138510949393961" rpy="0 0 0" />
|
| 1608 |
+
<mass value="0.462244960775882" />
|
| 1609 |
+
<inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" />
|
| 1610 |
+
</inertial>
|
| 1611 |
+
<visual>
|
| 1612 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1613 |
+
<geometry>
|
| 1614 |
+
<mesh filename="aloha_maniskill_sim/meshes/link6.dae" />
|
| 1615 |
+
</geometry>
|
| 1616 |
+
<!-- <material name="black">
|
| 1617 |
+
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
|
| 1618 |
+
</material> -->
|
| 1619 |
+
</visual>
|
| 1620 |
+
<collision>
|
| 1621 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1622 |
+
<geometry>
|
| 1623 |
+
<mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
|
| 1624 |
+
</geometry>
|
| 1625 |
+
</collision>
|
| 1626 |
+
</link>
|
| 1627 |
+
<joint name="lr_joint6" type="revolute">
|
| 1628 |
+
<origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" />
|
| 1629 |
+
<parent link="lr_link5" />
|
| 1630 |
+
<child link="lr_link6" />
|
| 1631 |
+
<axis xyz="1 0 0" />
|
| 1632 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1633 |
+
</joint>
|
| 1634 |
+
<link name="lr_link7">
|
| 1635 |
+
<inertial>
|
| 1636 |
+
<origin xyz="-0.000327642774520215 -0.00482005374028087 -0.00167540868720402" rpy="0 0 0" />
|
| 1637 |
+
<mass value="0.0484016660227936" />
|
| 1638 |
+
<inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
|
| 1639 |
+
</inertial>
|
| 1640 |
+
<visual>
|
| 1641 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1642 |
+
<geometry>
|
| 1643 |
+
<mesh filename="aloha_maniskill_sim/meshes/back_link7.dae" />
|
| 1644 |
+
</geometry>
|
| 1645 |
+
<!-- <material name="black">
|
| 1646 |
+
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
|
| 1647 |
+
</material> -->
|
| 1648 |
+
</visual>
|
| 1649 |
+
<collision>
|
| 1650 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1651 |
+
<geometry>
|
| 1652 |
+
<mesh filename="aloha_maniskill_sim/meshes/back_link7.STL" />
|
| 1653 |
+
</geometry>
|
| 1654 |
+
</collision>
|
| 1655 |
+
</link>
|
| 1656 |
+
<joint name="lr_joint7" type="fixed">
|
| 1657 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1658 |
+
<parent link="lr_link6" />
|
| 1659 |
+
<child link="lr_link7" />
|
| 1660 |
+
<axis xyz="0 0 1" />
|
| 1661 |
+
<limit lower="0" upper="0.4765" effort="100" velocity="1000" />
|
| 1662 |
+
</joint>
|
| 1663 |
+
|
| 1664 |
+
|
| 1665 |
+
<!--***************************** right-rear ****************************** -->
|
| 1666 |
+
<link name="rr_base_link">
|
| 1667 |
+
<inertial>
|
| 1668 |
+
<origin xyz="-2.9972E-05 3.056E-05 0.027301" rpy="0 0 0" />
|
| 1669 |
+
<mass value="0.44038" />
|
| 1670 |
+
<inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00018" iyz="0.00000" izz="0.00016" />
|
| 1671 |
+
</inertial>
|
| 1672 |
+
<visual>
|
| 1673 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1674 |
+
<geometry>
|
| 1675 |
+
<mesh filename="aloha_maniskill_sim/meshes/base_arm.dae" />
|
| 1676 |
+
</geometry>
|
| 1677 |
+
<!-- <material name="black">
|
| 1678 |
+
<color rgba="0.75294 0.75294 0.75294 1" />
|
| 1679 |
+
</material> -->
|
| 1680 |
+
</visual>
|
| 1681 |
+
<collision>
|
| 1682 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1683 |
+
<geometry>
|
| 1684 |
+
<mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
|
| 1685 |
+
</geometry>
|
| 1686 |
+
</collision>
|
| 1687 |
+
</link>
|
| 1688 |
+
<joint name="rr_base_joint" type="fixed">
|
| 1689 |
+
<origin xyz="-0.309 -0.307 0.903" rpy="0.0 0.0 0.0" />
|
| 1690 |
+
<parent link="footprint" />
|
| 1691 |
+
<child link="rr_base_link" />
|
| 1692 |
+
<axis xyz="0.0 0.0 1.0" />
|
| 1693 |
+
</joint>
|
| 1694 |
+
<link name="rr_link1">
|
| 1695 |
+
<inertial>
|
| 1696 |
+
<origin xyz="0.00609525411893452 -0.00429681977500749 0.0179590247477389" rpy="0 0 0" />
|
| 1697 |
+
<mass value="0.0608351104988555" />
|
| 1698 |
+
<inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00007" />
|
| 1699 |
+
</inertial>
|
| 1700 |
+
<visual>
|
| 1701 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1702 |
+
<geometry>
|
| 1703 |
+
<mesh filename="aloha_maniskill_sim/meshes/link1.dae" />
|
| 1704 |
+
</geometry>
|
| 1705 |
+
<!-- <material name="black">
|
| 1706 |
+
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1707 |
+
</material> -->
|
| 1708 |
+
</visual>
|
| 1709 |
+
<collision>
|
| 1710 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1711 |
+
<geometry>
|
| 1712 |
+
<mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
|
| 1713 |
+
</geometry>
|
| 1714 |
+
</collision>
|
| 1715 |
+
</link>
|
| 1716 |
+
<joint name="rr_joint1" type="revolute">
|
| 1717 |
+
<origin xyz="0 0 0.0603" rpy="0 0 0" />
|
| 1718 |
+
<parent link="rr_base_link" />
|
| 1719 |
+
<child link="rr_link1" />
|
| 1720 |
+
<axis xyz="0 0 1" />
|
| 1721 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1722 |
+
</joint>
|
| 1723 |
+
<link name="rr_link2">
|
| 1724 |
+
<inertial>
|
| 1725 |
+
<origin xyz="-0.132382037190567 0.00220380675553821 0.000111790164679923" rpy="0 0 0" />
|
| 1726 |
+
<mass value="1.0733279014126" />
|
| 1727 |
+
<inertia ixx="0.00050" ixy="0.00000" ixz="-0.00004" iyy="0.01596" iyz="0.00000" izz="0.01602" />
|
| 1728 |
+
</inertial>
|
| 1729 |
+
<visual>
|
| 1730 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1731 |
+
<geometry>
|
| 1732 |
+
<mesh filename="aloha_maniskill_sim/meshes/link2.dae" />
|
| 1733 |
+
</geometry>
|
| 1734 |
+
<!-- <material name="black">
|
| 1735 |
+
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1736 |
+
</material> -->
|
| 1737 |
+
</visual>
|
| 1738 |
+
<collision>
|
| 1739 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1740 |
+
<geometry>
|
| 1741 |
+
<mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
|
| 1742 |
+
</geometry>
|
| 1743 |
+
</collision>
|
| 1744 |
+
</link>
|
| 1745 |
+
<joint name="rr_joint2" type="revolute">
|
| 1746 |
+
<origin xyz="0.02 0 0.0402" rpy="0 0 0" />
|
| 1747 |
+
<parent link="rr_link1" />
|
| 1748 |
+
<child link="rr_link2" />
|
| 1749 |
+
<axis xyz="0 1 0" />
|
| 1750 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1751 |
+
</joint>
|
| 1752 |
+
<link name="rr_link3">
|
| 1753 |
+
<inertial>
|
| 1754 |
+
<origin xyz="0.187203287369961 -0.000305676361444925 -0.0514832866415513" rpy="0 0 0" />
|
| 1755 |
+
<mass value="0.499404738025019" />
|
| 1756 |
+
<inertia ixx="0.00033" ixy="-0.00006" ixz="-0.00039" iyy="0.00387" iyz="0.00001" izz="0.00383" />
|
| 1757 |
+
</inertial>
|
| 1758 |
+
<visual>
|
| 1759 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1760 |
+
<geometry>
|
| 1761 |
+
<mesh filename="aloha_maniskill_sim/meshes/link3.dae" />
|
| 1762 |
+
</geometry>
|
| 1763 |
+
<!-- <material name="white">
|
| 1764 |
+
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1765 |
+
</material> -->
|
| 1766 |
+
</visual>
|
| 1767 |
+
<collision>
|
| 1768 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1769 |
+
<geometry>
|
| 1770 |
+
<mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
|
| 1771 |
+
</geometry>
|
| 1772 |
+
</collision>
|
| 1773 |
+
</link>
|
| 1774 |
+
<joint name="rr_joint3" type="revolute">
|
| 1775 |
+
<origin xyz="-0.264 0 0" rpy="-3.1416 0 0" />
|
| 1776 |
+
<parent link="rr_link2" />
|
| 1777 |
+
<child link="rr_link3" />
|
| 1778 |
+
<axis xyz="0 1 0" />
|
| 1779 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1780 |
+
</joint>
|
| 1781 |
+
<link name="rr_link4">
|
| 1782 |
+
<inertial>
|
| 1783 |
+
<origin xyz="0.0388884702662706 0.00295168681334743 -0.0353282735009622" rpy="0 0 0" />
|
| 1784 |
+
<mass value="0.0809712553169999" />
|
| 1785 |
+
<inertia ixx="0.00013" ixy="-0.00001" ixz="-0.00006" iyy="0.00016" iyz="0.00001" izz="0.00010" />
|
| 1786 |
+
</inertial>
|
| 1787 |
+
<visual>
|
| 1788 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1789 |
+
<geometry>
|
| 1790 |
+
<mesh filename="aloha_maniskill_sim/meshes/link4.dae" />
|
| 1791 |
+
</geometry>
|
| 1792 |
+
<!-- <material name="black">
|
| 1793 |
+
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
|
| 1794 |
+
</material> -->
|
| 1795 |
+
</visual>
|
| 1796 |
+
<collision>
|
| 1797 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1798 |
+
<geometry>
|
| 1799 |
+
<mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
|
| 1800 |
+
</geometry>
|
| 1801 |
+
</collision>
|
| 1802 |
+
</link>
|
| 1803 |
+
<joint name="rr_joint4" type="revolute">
|
| 1804 |
+
<origin xyz="0.245 0 -0.056" rpy="0 0 0" />
|
| 1805 |
+
<parent link="rr_link3" />
|
| 1806 |
+
<child link="rr_link4" />
|
| 1807 |
+
<axis xyz="0 1 0" />
|
| 1808 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1809 |
+
</joint>
|
| 1810 |
+
<link name="rr_link5">
|
| 1811 |
+
<inertial>
|
| 1812 |
+
<origin xyz="0.00289956909960302 3.15826689885766E-05 0.0526188859211408" rpy="0 0 0" />
|
| 1813 |
+
<mass value="0.602357399313257" />
|
| 1814 |
+
<inertia ixx="0.00072" ixy="0.00000" ixz="0.00005" iyy="0.00069" iyz="0.00000" izz="0.00021" />
|
| 1815 |
+
</inertial>
|
| 1816 |
+
<visual>
|
| 1817 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1818 |
+
<geometry>
|
| 1819 |
+
<mesh filename="aloha_maniskill_sim/meshes/link5.dae" />
|
| 1820 |
+
</geometry>
|
| 1821 |
+
<!-- <material name="black">
|
| 1822 |
+
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
| 1823 |
+
</material> -->
|
| 1824 |
+
</visual>
|
| 1825 |
+
<collision>
|
| 1826 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1827 |
+
<geometry>
|
| 1828 |
+
<mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
|
| 1829 |
+
</geometry>
|
| 1830 |
+
</collision>
|
| 1831 |
+
</link>
|
| 1832 |
+
<joint name="rr_joint5" type="revolute">
|
| 1833 |
+
<origin xyz="0.06575 -0.001 -0.0825" rpy="0 0 0" />
|
| 1834 |
+
<parent link="rr_link4" />
|
| 1835 |
+
<child link="rr_link5" />
|
| 1836 |
+
<axis xyz="0 0 1" />
|
| 1837 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1838 |
+
</joint>
|
| 1839 |
+
<link name="rr_link6">
|
| 1840 |
+
<inertial>
|
| 1841 |
+
<origin xyz="0.0471798400661976 0.000102970421835668 -0.000138510949393961" rpy="0 0 0" />
|
| 1842 |
+
<mass value="0.462244960775882" />
|
| 1843 |
+
<inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" />
|
| 1844 |
+
</inertial>
|
| 1845 |
+
<visual>
|
| 1846 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1847 |
+
<geometry>
|
| 1848 |
+
<mesh filename="aloha_maniskill_sim/meshes/link6.dae" />
|
| 1849 |
+
</geometry>
|
| 1850 |
+
<!-- <material name="black">
|
| 1851 |
+
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
|
| 1852 |
+
</material> -->
|
| 1853 |
+
</visual>
|
| 1854 |
+
<collision>
|
| 1855 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1856 |
+
<geometry>
|
| 1857 |
+
<mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
|
| 1858 |
+
</geometry>
|
| 1859 |
+
</collision>
|
| 1860 |
+
</link>
|
| 1861 |
+
<joint name="rr_joint6" type="revolute">
|
| 1862 |
+
<origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" />
|
| 1863 |
+
<parent link="rr_link5" />
|
| 1864 |
+
<child link="rr_link6" />
|
| 1865 |
+
<axis xyz="1 0 0" />
|
| 1866 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 1867 |
+
</joint>
|
| 1868 |
+
<link name="rr_link7">
|
| 1869 |
+
<inertial>
|
| 1870 |
+
<origin xyz="-0.000327642774520215 -0.00482005374028087 -0.00167540868720402" rpy="0 0 0" />
|
| 1871 |
+
<mass value="0.0484016660227936" />
|
| 1872 |
+
<inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
|
| 1873 |
+
</inertial>
|
| 1874 |
+
<visual>
|
| 1875 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1876 |
+
<geometry>
|
| 1877 |
+
<mesh filename="aloha_maniskill_sim/meshes/back_link7.dae" />
|
| 1878 |
+
</geometry>
|
| 1879 |
+
<!-- <material name="black">
|
| 1880 |
+
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
|
| 1881 |
+
</material> -->
|
| 1882 |
+
</visual>
|
| 1883 |
+
<collision>
|
| 1884 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1885 |
+
<geometry>
|
| 1886 |
+
<mesh filename="aloha_maniskill_sim/meshes/back_link7.STL" />
|
| 1887 |
+
</geometry>
|
| 1888 |
+
</collision>
|
| 1889 |
+
</link>
|
| 1890 |
+
<joint name="rr_joint7" type="fixed">
|
| 1891 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1892 |
+
<parent link="rr_link6" />
|
| 1893 |
+
<child link="rr_link7" />
|
| 1894 |
+
<axis xyz="0 0 1" />
|
| 1895 |
+
<limit lower="0" upper="0.4765" effort="100" velocity="1000" />
|
| 1896 |
+
</joint>
|
| 1897 |
+
|
| 1898 |
+
|
| 1899 |
+
|
| 1900 |
+
</robot>
|
| 1901 |
+
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika.urdf
ADDED
|
@@ -0,0 +1,405 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<!-- =================================================================================== -->
|
| 3 |
+
<!-- | This document was autogenerated by xacro from piper_with_pika.xacro | -->
|
| 4 |
+
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
| 5 |
+
<!-- =================================================================================== -->
|
| 6 |
+
<robot name="piper_with_pika">
|
| 7 |
+
<!-- world -->
|
| 8 |
+
<link name="world"/>
|
| 9 |
+
<joint name="fixed_base_joint" type="fixed">
|
| 10 |
+
<parent link="world"/>
|
| 11 |
+
<child link="base_link"/>
|
| 12 |
+
</joint>
|
| 13 |
+
<!-- arm -->
|
| 14 |
+
<link name="base_link">
|
| 15 |
+
<inertial>
|
| 16 |
+
<origin rpy="0 0 0" xyz="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189"/>
|
| 17 |
+
<mass value="0.162548567403693"/>
|
| 18 |
+
<inertia ixx="0.000226596924525071" ixy="-7.33972270153965E-08" ixz="2.13249977802622E-06" iyy="0.000269444772561524" iyz="8.15169009611054E-09" izz="0.000222318258878636"/>
|
| 19 |
+
</inertial>
|
| 20 |
+
<visual>
|
| 21 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 22 |
+
<geometry>
|
| 23 |
+
<mesh filename="piper_with_pika/piper_description/meshes/base_link.dae"/>
|
| 24 |
+
</geometry>
|
| 25 |
+
<material name="">
|
| 26 |
+
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
| 27 |
+
</material>
|
| 28 |
+
</visual>
|
| 29 |
+
<collision>
|
| 30 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 31 |
+
<geometry>
|
| 32 |
+
<mesh filename="piper_with_pika/piper_description/meshes/base_link.STL"/>
|
| 33 |
+
</geometry>
|
| 34 |
+
</collision>
|
| 35 |
+
</link>
|
| 36 |
+
<link name="link1">
|
| 37 |
+
<inertial>
|
| 38 |
+
<origin rpy="0 0 0" xyz="0.00131676031927024 0.000310288842008612 -0.00922874512303437"/>
|
| 39 |
+
<mass value="0.0978679932242825"/>
|
| 40 |
+
<inertia ixx="7.76684558296782E-05" ixy="1.09084650459924E-07" ixz="-1.9748053243241E-06" iyy="9.24967780161547E-05" iyz="9.91284646834582E-07" izz="8.24589062407807E-05"/>
|
| 41 |
+
</inertial>
|
| 42 |
+
<visual>
|
| 43 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 44 |
+
<geometry>
|
| 45 |
+
<mesh filename="piper_with_pika/piper_description/meshes/link1.dae"/>
|
| 46 |
+
</geometry>
|
| 47 |
+
<material name="">
|
| 48 |
+
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
| 49 |
+
</material>
|
| 50 |
+
</visual>
|
| 51 |
+
<collision>
|
| 52 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 53 |
+
<geometry>
|
| 54 |
+
<mesh filename="piper_with_pika/piper_description/meshes/link1.STL"/>
|
| 55 |
+
</geometry>
|
| 56 |
+
</collision>
|
| 57 |
+
</link>
|
| 58 |
+
<joint name="joint1" type="revolute">
|
| 59 |
+
<origin rpy="0 0 -1.5708" xyz="0 0 0.123"/>
|
| 60 |
+
<parent link="base_link"/>
|
| 61 |
+
<child link="link1"/>
|
| 62 |
+
<axis xyz="0 0 1"/>
|
| 63 |
+
<limit effort="100" lower="-2.618" upper="2.618" velocity="3"/>
|
| 64 |
+
</joint>
|
| 65 |
+
<link name="link2">
|
| 66 |
+
<inertial>
|
| 67 |
+
<origin rpy="0 0 0" xyz="0.148793602378802 -0.00242026983944119 0.00175154638467948"/>
|
| 68 |
+
<mass value="0.290888938633388"/>
|
| 69 |
+
<inertia ixx="0.000148959640166183" ixy="-7.37750384371657E-05" ixz="-9.68688405196236E-07" iyy="0.00172800946632652" iyz="-1.09692225564224E-06" izz="0.0017754628344594"/>
|
| 70 |
+
</inertial>
|
| 71 |
+
<visual>
|
| 72 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 73 |
+
<geometry>
|
| 74 |
+
<mesh filename="piper_with_pika/piper_description/meshes/link2.dae"/>
|
| 75 |
+
</geometry>
|
| 76 |
+
<material name="">
|
| 77 |
+
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
| 78 |
+
</material>
|
| 79 |
+
</visual>
|
| 80 |
+
<collision>
|
| 81 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 82 |
+
<geometry>
|
| 83 |
+
<mesh filename="piper_with_pika/piper_description/meshes/link2.STL"/>
|
| 84 |
+
</geometry>
|
| 85 |
+
</collision>
|
| 86 |
+
</link>
|
| 87 |
+
<joint name="joint2" type="revolute">
|
| 88 |
+
<origin rpy="1.5708 0 -1.5708" xyz="0 0 0"/>
|
| 89 |
+
<parent link="link1"/>
|
| 90 |
+
<child link="link2"/>
|
| 91 |
+
<axis xyz="0 0 1"/>
|
| 92 |
+
<limit effort="100" lower="0" upper="3.14" velocity="3"/>
|
| 93 |
+
</joint>
|
| 94 |
+
<link name="link3">
|
| 95 |
+
<inertial>
|
| 96 |
+
<origin rpy="0 0 0" xyz="-0.0996835215213704 0.0349477226691318 0.000508025815507312"/>
|
| 97 |
+
<mass value="0.290847697793211"/>
|
| 98 |
+
<inertia ixx="0.000107879011637167" ixy="2.92669521203626E-05" ixz="6.825922326238E-07" iyy="0.000214751671792086" iyz="-7.78469047878196E-07" izz="0.000241923439340319"/>
|
| 99 |
+
</inertial>
|
| 100 |
+
<visual>
|
| 101 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 102 |
+
<geometry>
|
| 103 |
+
<mesh filename="piper_with_pika/piper_description/meshes/link3.dae"/>
|
| 104 |
+
</geometry>
|
| 105 |
+
<material name="">
|
| 106 |
+
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
| 107 |
+
</material>
|
| 108 |
+
</visual>
|
| 109 |
+
<collision>
|
| 110 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 111 |
+
<geometry>
|
| 112 |
+
<mesh filename="piper_with_pika/piper_description/meshes/link3.STL"/>
|
| 113 |
+
</geometry>
|
| 114 |
+
</collision>
|
| 115 |
+
</link>
|
| 116 |
+
<joint name="joint3" type="revolute">
|
| 117 |
+
<origin rpy="0 0 0.10095" xyz="0.28358 0.028726 0"/>
|
| 118 |
+
<parent link="link2"/>
|
| 119 |
+
<child link="link3"/>
|
| 120 |
+
<axis xyz="0 0 1"/>
|
| 121 |
+
<limit effort="100" lower="-2.697" upper="0" velocity="3"/>
|
| 122 |
+
</joint>
|
| 123 |
+
<link name="link4">
|
| 124 |
+
<inertial>
|
| 125 |
+
<origin rpy="0 0 0" xyz="0.000276464622387979 -0.00102803669324875 -0.00472830700561663"/>
|
| 126 |
+
<mass value="0.127087348341362"/>
|
| 127 |
+
<inertia ixx="3.82011730423416E-05" ixy="-4.92358350897513E-08" ixz="4.89589432973119E-08" iyy="4.87048555222578E-05" iyz="6.70802942500512E-08" izz="4.10592077565559E-05"/>
|
| 128 |
+
</inertial>
|
| 129 |
+
<visual>
|
| 130 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 131 |
+
<geometry>
|
| 132 |
+
<mesh filename="piper_with_pika/piper_description/meshes/link4.dae"/>
|
| 133 |
+
</geometry>
|
| 134 |
+
<material name="">
|
| 135 |
+
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
| 136 |
+
</material>
|
| 137 |
+
</visual>
|
| 138 |
+
<collision>
|
| 139 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 140 |
+
<geometry>
|
| 141 |
+
<mesh filename="piper_with_pika/piper_description/meshes/link4.STL"/>
|
| 142 |
+
</geometry>
|
| 143 |
+
</collision>
|
| 144 |
+
</link>
|
| 145 |
+
<joint name="joint4" type="revolute">
|
| 146 |
+
<origin rpy="-1.5708 0 1.3826" xyz="-0.24221 0.068514 0"/>
|
| 147 |
+
<parent link="link3"/>
|
| 148 |
+
<child link="link4"/>
|
| 149 |
+
<axis xyz="0 0 1"/>
|
| 150 |
+
<limit effort="100" lower="-1.832" upper="1.832" velocity="3"/>
|
| 151 |
+
</joint>
|
| 152 |
+
<link name="link5">
|
| 153 |
+
<inertial>
|
| 154 |
+
<origin rpy="0 0 0" xyz="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461"/>
|
| 155 |
+
<mass value="0.144711242639457"/>
|
| 156 |
+
<inertia ixx="4.39644313662493E-05" ixy="-3.59259686444846E-08" ixz="-1.89747741386183E-08" iyy="5.63173920951307E-05" iyz="-2.1540716689785E-07" izz="4.88713664675268E-05"/>
|
| 157 |
+
</inertial>
|
| 158 |
+
<visual>
|
| 159 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 160 |
+
<geometry>
|
| 161 |
+
<mesh filename="piper_with_pika/piper_description/meshes/link5.dae"/>
|
| 162 |
+
</geometry>
|
| 163 |
+
<material name="">
|
| 164 |
+
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
| 165 |
+
</material>
|
| 166 |
+
</visual>
|
| 167 |
+
<collision>
|
| 168 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 169 |
+
<geometry>
|
| 170 |
+
<mesh filename="piper_with_pika/piper_description/meshes/link5.STL"/>
|
| 171 |
+
</geometry>
|
| 172 |
+
</collision>
|
| 173 |
+
</link>
|
| 174 |
+
<joint name="joint5" type="revolute">
|
| 175 |
+
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
| 176 |
+
<parent link="link4"/>
|
| 177 |
+
<child link="link5"/>
|
| 178 |
+
<axis xyz="0 0 1"/>
|
| 179 |
+
<limit effort="100" lower="-1.22" upper="1.22" velocity="3"/>
|
| 180 |
+
</joint>
|
| 181 |
+
<link name="link6">
|
| 182 |
+
<inertial>
|
| 183 |
+
<origin rpy="0 0 0" xyz="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461"/>
|
| 184 |
+
<mass value="0.144711242639457"/>
|
| 185 |
+
<inertia ixx="4.39644313662493E-05" ixy="-3.59259686444846E-08" ixz="-1.89747741386183E-08" iyy="5.63173920951307E-05" iyz="-2.1540716689785E-07" izz="4.88713664675268E-05"/>
|
| 186 |
+
</inertial>
|
| 187 |
+
<visual>
|
| 188 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 189 |
+
<geometry>
|
| 190 |
+
<box size="0.001 0.001 0.001"/>
|
| 191 |
+
</geometry>
|
| 192 |
+
<material name="">
|
| 193 |
+
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
| 194 |
+
</material>
|
| 195 |
+
</visual>
|
| 196 |
+
<collision>
|
| 197 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 198 |
+
<geometry>
|
| 199 |
+
<box size="0.001 0.001 0.001"/>
|
| 200 |
+
</geometry>
|
| 201 |
+
</collision>
|
| 202 |
+
</link>
|
| 203 |
+
<joint name="joint6" type="fixed">
|
| 204 |
+
<origin rpy="0 0 0" xyz="0 0.13 0"/>
|
| 205 |
+
<parent link="link5"/>
|
| 206 |
+
<child link="link6"/>
|
| 207 |
+
</joint>
|
| 208 |
+
<transmission name="tran1">
|
| 209 |
+
<type>transmission_interface/SimpleTransmission</type>
|
| 210 |
+
<joint name="joint1">
|
| 211 |
+
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
| 212 |
+
</joint>
|
| 213 |
+
<actuator name="$motor_name">
|
| 214 |
+
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
| 215 |
+
<mechanicalReduction>1</mechanicalReduction>
|
| 216 |
+
</actuator>
|
| 217 |
+
</transmission>
|
| 218 |
+
<transmission name="tran2">
|
| 219 |
+
<type>transmission_interface/SimpleTransmission</type>
|
| 220 |
+
<joint name="joint2">
|
| 221 |
+
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
| 222 |
+
</joint>
|
| 223 |
+
<actuator name="$motor_name">
|
| 224 |
+
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
| 225 |
+
<mechanicalReduction>1</mechanicalReduction>
|
| 226 |
+
</actuator>
|
| 227 |
+
</transmission>
|
| 228 |
+
<transmission name="tran3">
|
| 229 |
+
<type>transmission_interface/SimpleTransmission</type>
|
| 230 |
+
<joint name="joint3">
|
| 231 |
+
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
| 232 |
+
</joint>
|
| 233 |
+
<actuator name="$motor_name">
|
| 234 |
+
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
| 235 |
+
<mechanicalReduction>1</mechanicalReduction>
|
| 236 |
+
</actuator>
|
| 237 |
+
</transmission>
|
| 238 |
+
<transmission name="tran4">
|
| 239 |
+
<type>transmission_interface/SimpleTransmission</type>
|
| 240 |
+
<joint name="joint4">
|
| 241 |
+
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
| 242 |
+
</joint>
|
| 243 |
+
<actuator name="$motor_name">
|
| 244 |
+
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
| 245 |
+
<mechanicalReduction>1</mechanicalReduction>
|
| 246 |
+
</actuator>
|
| 247 |
+
</transmission>
|
| 248 |
+
<transmission name="tran5">
|
| 249 |
+
<type>transmission_interface/SimpleTransmission</type>
|
| 250 |
+
<joint name="joint5">
|
| 251 |
+
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
| 252 |
+
</joint>
|
| 253 |
+
<actuator name="$motor_name">
|
| 254 |
+
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
| 255 |
+
<mechanicalReduction>1</mechanicalReduction>
|
| 256 |
+
</actuator>
|
| 257 |
+
</transmission>
|
| 258 |
+
<!-- gazebo -->
|
| 259 |
+
<gazebo>
|
| 260 |
+
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
| 261 |
+
<robotNamespace>/piper_description</robotNamespace>
|
| 262 |
+
<legacyModeNS>true</legacyModeNS>
|
| 263 |
+
</plugin>
|
| 264 |
+
</gazebo>
|
| 265 |
+
<!-- <gazebo reference="base_link">
|
| 266 |
+
<material>Gazebo/Black</material>
|
| 267 |
+
</gazebo>
|
| 268 |
+
|
| 269 |
+
<gazebo reference="link1">
|
| 270 |
+
<material>Gazebo/White</material>
|
| 271 |
+
</gazebo>
|
| 272 |
+
|
| 273 |
+
<gazebo reference="link2">
|
| 274 |
+
<material>Gazebo/White</material>
|
| 275 |
+
</gazebo>
|
| 276 |
+
|
| 277 |
+
<gazebo reference="link3">
|
| 278 |
+
<material>Gazebo/White</material>
|
| 279 |
+
</gazebo>
|
| 280 |
+
|
| 281 |
+
<gazebo reference="link4">
|
| 282 |
+
<material>Gazebo/Black</material>
|
| 283 |
+
</gazebo>
|
| 284 |
+
|
| 285 |
+
<gazebo reference="link5">
|
| 286 |
+
<material>Gazebo/White</material>
|
| 287 |
+
</gazebo> -->
|
| 288 |
+
<link name="base_link1">
|
| 289 |
+
<inertial>
|
| 290 |
+
<origin rpy="0 0 0" xyz="0.00895157979030411 0.0364215348235876 3.07829537042094E-06"/>
|
| 291 |
+
<mass value="0.214689487753452"/>
|
| 292 |
+
<inertia ixx="9.71591878800854E-05" ixy="-1.90126582652056E-06" ixz="2.194991635625E-08" iyy="0.000216463011868437" iyz="2.88388439788682E-08" izz="0.000158039782933548"/>
|
| 293 |
+
</inertial>
|
| 294 |
+
<visual>
|
| 295 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 296 |
+
<geometry>
|
| 297 |
+
<mesh filename="piper_with_pika/big_limit/meshes/base_link1.STL"/>
|
| 298 |
+
</geometry>
|
| 299 |
+
<material name="">
|
| 300 |
+
<color rgba="0.498039215686275 0.498039215686275 0.498039215686275 1"/>
|
| 301 |
+
</material>
|
| 302 |
+
</visual>
|
| 303 |
+
<collision>
|
| 304 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 305 |
+
<geometry>
|
| 306 |
+
<mesh filename="piper_with_pika/big_limit/meshes/base_link1.STL"/>
|
| 307 |
+
</geometry>
|
| 308 |
+
</collision>
|
| 309 |
+
</link>
|
| 310 |
+
<link name="center_Link">
|
| 311 |
+
<inertial>
|
| 312 |
+
<origin rpy="0 0 0" xyz="0.00696244636080415 -7.4815793272686E-07 -2.69398424089518E-08"/>
|
| 313 |
+
<mass value="0.0175242780727404"/>
|
| 314 |
+
<inertia ixx="2.50021259268606E-05" ixy="-2.84040463471761E-11" ixz="-5.45439344289834E-13" iyy="2.44907261966923E-05" iyz="3.99625892409664E-13" izz="1.33286845101101E-06"/>
|
| 315 |
+
</inertial>
|
| 316 |
+
<visual>
|
| 317 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 318 |
+
<geometry>
|
| 319 |
+
<mesh filename="piper_with_pika/big_limit/meshes/center_Link.STL"/>
|
| 320 |
+
</geometry>
|
| 321 |
+
<material name="">
|
| 322 |
+
<color rgba="1 1 1 1"/>
|
| 323 |
+
</material>
|
| 324 |
+
</visual>
|
| 325 |
+
<collision>
|
| 326 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 327 |
+
<geometry>
|
| 328 |
+
<mesh filename="piper_with_pika/big_limit/meshes/center_Link.STL"/>
|
| 329 |
+
</geometry>
|
| 330 |
+
</collision>
|
| 331 |
+
</link>
|
| 332 |
+
<joint name="center_joint" type="fixed">
|
| 333 |
+
<origin rpy="3.1416 0 1.5708" xyz="0 0.0794 0"/>
|
| 334 |
+
<parent link="base_link1"/>
|
| 335 |
+
<child link="center_Link"/>
|
| 336 |
+
<axis xyz="0 0 0"/>
|
| 337 |
+
<limit effort="100" lower="-3.14" upper="3.14" velocity="1"/>
|
| 338 |
+
</joint>
|
| 339 |
+
<link name="Left_Link2">
|
| 340 |
+
<inertial>
|
| 341 |
+
<origin rpy="0 0 0" xyz="0.0349979672547298 -1.75293933603335E-05 0.0221808688734973"/>
|
| 342 |
+
<mass value="0.067021195078205"/>
|
| 343 |
+
<inertia ixx="2.39707110963665E-05" ixy="-3.87108357994269E-10" ixz="-1.81031525739418E-05" iyy="5.08303478558264E-05" iyz="5.29682892786084E-10" izz="4.55057387377733E-05"/>
|
| 344 |
+
</inertial>
|
| 345 |
+
<visual>
|
| 346 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 347 |
+
<geometry>
|
| 348 |
+
<mesh filename="piper_with_pika/big_limit/meshes/Left_Link2.STL"/>
|
| 349 |
+
</geometry>
|
| 350 |
+
<material name="">
|
| 351 |
+
<color rgba="1 1 1 1"/>
|
| 352 |
+
</material>
|
| 353 |
+
</visual>
|
| 354 |
+
<collision>
|
| 355 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 356 |
+
<geometry>
|
| 357 |
+
<mesh filename="piper_with_pika/big_limit/meshes/Left_Link2.STL"/>
|
| 358 |
+
</geometry>
|
| 359 |
+
</collision>
|
| 360 |
+
</link>
|
| 361 |
+
<joint name="Left_joint2" type="prismatic">
|
| 362 |
+
<origin rpy="0 0 0" xyz="0.020188 0 -0.089594"/>
|
| 363 |
+
<parent link="center_Link"/>
|
| 364 |
+
<child link="Left_Link2"/>
|
| 365 |
+
<axis xyz="0 0 1"/>
|
| 366 |
+
<limit effort="100" lower="-3.14" upper="3.14" velocity="1"/>
|
| 367 |
+
</joint>
|
| 368 |
+
<link name="Rright_Link2">
|
| 369 |
+
<inertial>
|
| 370 |
+
<origin rpy="0 0 0" xyz="0.0349979672547298 -1.67593751504887E-05 0.0221808688734973"/>
|
| 371 |
+
<mass value="0.0670211950782051"/>
|
| 372 |
+
<inertia ixx="2.39707110963853E-05" ixy="-3.42132512281158E-10" ixz="-1.81031525739416E-05" iyy="5.08303478558355E-05" iyz="5.29682902193692E-10" izz="4.55057387377832E-05"/>
|
| 373 |
+
</inertial>
|
| 374 |
+
<visual>
|
| 375 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 376 |
+
<geometry>
|
| 377 |
+
<mesh filename="piper_with_pika/big_limit/meshes/Rright_Link2.STL"/>
|
| 378 |
+
</geometry>
|
| 379 |
+
<material name="">
|
| 380 |
+
<color rgba="1 1 1 1"/>
|
| 381 |
+
</material>
|
| 382 |
+
</visual>
|
| 383 |
+
<collision>
|
| 384 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 385 |
+
<geometry>
|
| 386 |
+
<mesh filename="piper_with_pika/big_limit/meshes/Rright_Link2.STL"/>
|
| 387 |
+
</geometry>
|
| 388 |
+
</collision>
|
| 389 |
+
</link>
|
| 390 |
+
<joint name="Rright_Joint2" type="prismatic">
|
| 391 |
+
<origin rpy="-3.1416 0 0" xyz="0.020188 0 0.089594"/>
|
| 392 |
+
<parent link="center_Link"/>
|
| 393 |
+
<child link="Rright_Link2"/>
|
| 394 |
+
<axis xyz="0 0 1"/>
|
| 395 |
+
<limit effort="100" lower="-3.14" upper="3.14" velocity="1"/>
|
| 396 |
+
</joint>
|
| 397 |
+
<joint name="pika_base" type="fixed">
|
| 398 |
+
<origin rpy="0 0 0" xyz="0 -0.041 0"/>
|
| 399 |
+
<parent link="link6"/>
|
| 400 |
+
<child link="base_link1"/>
|
| 401 |
+
<axis xyz="0 0 0"/>
|
| 402 |
+
<limit effort="10" lower="-0.04" upper="0" velocity="1"/>
|
| 403 |
+
</joint>
|
| 404 |
+
</robot>
|
| 405 |
+
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper6/CMakeLists.txt
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
cmake_minimum_required(VERSION 2.8.3)
|
| 2 |
+
|
| 3 |
+
project(gripper6)
|
| 4 |
+
|
| 5 |
+
find_package(catkin REQUIRED)
|
| 6 |
+
|
| 7 |
+
catkin_package()
|
| 8 |
+
|
| 9 |
+
find_package(roslaunch)
|
| 10 |
+
|
| 11 |
+
foreach(dir config launch meshes urdf)
|
| 12 |
+
install(DIRECTORY ${dir}/
|
| 13 |
+
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
|
| 14 |
+
endforeach(dir)
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper6/export.log
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper6/package.xml
ADDED
|
@@ -0,0 +1,21 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<package format="2">
|
| 2 |
+
<name>gripper6</name>
|
| 3 |
+
<version>1.0.0</version>
|
| 4 |
+
<description>
|
| 5 |
+
<p>URDF Description package for gripper6</p>
|
| 6 |
+
<p>This package contains configuration data, 3D models and launch files
|
| 7 |
+
for gripper6 robot</p>
|
| 8 |
+
</description>
|
| 9 |
+
<author>TODO</author>
|
| 10 |
+
<maintainer email="TODO@email.com" />
|
| 11 |
+
<license>BSD</license>
|
| 12 |
+
<buildtool_depend>catkin</buildtool_depend>
|
| 13 |
+
<depend>roslaunch</depend>
|
| 14 |
+
<depend>robot_state_publisher</depend>
|
| 15 |
+
<depend>rviz</depend>
|
| 16 |
+
<depend>joint_state_publisher_gui</depend>
|
| 17 |
+
<depend>gazebo</depend>
|
| 18 |
+
<export>
|
| 19 |
+
<architecture_independent />
|
| 20 |
+
</export>
|
| 21 |
+
</package>
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper9/CMakeLists.txt
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
cmake_minimum_required(VERSION 2.8.3)
|
| 2 |
+
|
| 3 |
+
project(gripper9)
|
| 4 |
+
|
| 5 |
+
find_package(catkin REQUIRED)
|
| 6 |
+
|
| 7 |
+
catkin_package()
|
| 8 |
+
|
| 9 |
+
find_package(roslaunch)
|
| 10 |
+
|
| 11 |
+
foreach(dir config launch meshes urdf)
|
| 12 |
+
install(DIRECTORY ${dir}/
|
| 13 |
+
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
|
| 14 |
+
endforeach(dir)
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper9/config/joint_names_gripper9.yaml
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
controller_joint_names: ['', 'Center_rotate_Joint', 'Left_Joint1', 'Left_joint2', 'Right_joint1', 'Rright_Joint2', ]
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper9/export.log
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper9/launch/display.launch
ADDED
|
@@ -0,0 +1,20 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<launch>
|
| 2 |
+
<arg
|
| 3 |
+
name="model" />
|
| 4 |
+
<param
|
| 5 |
+
name="robot_description"
|
| 6 |
+
textfile="$(find gripper9)/urdf/gripper9.urdf" />
|
| 7 |
+
<node
|
| 8 |
+
name="joint_state_publisher_gui"
|
| 9 |
+
pkg="joint_state_publisher_gui"
|
| 10 |
+
type="joint_state_publisher_gui" />
|
| 11 |
+
<node
|
| 12 |
+
name="robot_state_publisher"
|
| 13 |
+
pkg="robot_state_publisher"
|
| 14 |
+
type="robot_state_publisher" />
|
| 15 |
+
<node
|
| 16 |
+
name="rviz"
|
| 17 |
+
pkg="rviz"
|
| 18 |
+
type="rviz"
|
| 19 |
+
args="-d $(find gripper9)/urdf.rviz" />
|
| 20 |
+
</launch>
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper9/launch/gazebo.launch
ADDED
|
@@ -0,0 +1,20 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<launch>
|
| 2 |
+
<include
|
| 3 |
+
file="$(find gazebo_ros)/launch/empty_world.launch" />
|
| 4 |
+
<node
|
| 5 |
+
name="tf_footprint_base"
|
| 6 |
+
pkg="tf"
|
| 7 |
+
type="static_transform_publisher"
|
| 8 |
+
args="0 0 0 0 0 0 base_link base_footprint 40" />
|
| 9 |
+
<node
|
| 10 |
+
name="spawn_model"
|
| 11 |
+
pkg="gazebo_ros"
|
| 12 |
+
type="spawn_model"
|
| 13 |
+
args="-file $(find gripper9)/urdf/gripper9.urdf -urdf -model gripper9"
|
| 14 |
+
output="screen" />
|
| 15 |
+
<node
|
| 16 |
+
name="fake_joint_calibration"
|
| 17 |
+
pkg="rostopic"
|
| 18 |
+
type="rostopic"
|
| 19 |
+
args="pub /calibrated std_msgs/Bool true" />
|
| 20 |
+
</launch>
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper9/meshes/Center_rotate_Link.STL
ADDED
|
Binary file (72.7 kB). View file
|
|
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper9/package.xml
ADDED
|
@@ -0,0 +1,21 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<package format="2">
|
| 2 |
+
<name>gripper9</name>
|
| 3 |
+
<version>1.0.0</version>
|
| 4 |
+
<description>
|
| 5 |
+
<p>URDF Description package for gripper9</p>
|
| 6 |
+
<p>This package contains configuration data, 3D models and launch files
|
| 7 |
+
for gripper9 robot</p>
|
| 8 |
+
</description>
|
| 9 |
+
<author>TODO</author>
|
| 10 |
+
<maintainer email="TODO@email.com" />
|
| 11 |
+
<license>BSD</license>
|
| 12 |
+
<buildtool_depend>catkin</buildtool_depend>
|
| 13 |
+
<depend>roslaunch</depend>
|
| 14 |
+
<depend>robot_state_publisher</depend>
|
| 15 |
+
<depend>rviz</depend>
|
| 16 |
+
<depend>joint_state_publisher_gui</depend>
|
| 17 |
+
<depend>gazebo</depend>
|
| 18 |
+
<export>
|
| 19 |
+
<architecture_independent />
|
| 20 |
+
</export>
|
| 21 |
+
</package>
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper9/urdf/gripper9.csv
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
|
| 2 |
+
base_link,0.00895157979030411,0.0364215348235876,3.07829537041747E-06,0,0,0,0.214689487753452,9.71591878800854E-05,-1.90126582652055E-06,2.19499163562307E-08,0.000216463011868437,2.8838843978869E-08,0.000158039782933548,0,0,0,0,0,0,package://gripper9/meshes/base_link.STL,0.498039215686275,0.498039215686275,0.498039215686275,1,0,0,0,0,0,0,package://gripper9/meshes/base_link.STL,,装配体.STEP-1/M-D080-950001-C.STEP-1;装配体.STEP-1/DECXIN-2M-2159V2-1.STEP-1;装配体.STEP-1/____405.STEP-1/M-D080-180011-A.STEP-1;装配体.STEP-1/M-D080-950002-C.STEP-1;装配体.STEP-1/Pika Tracker XT302+2 PCBA.STEP-1;装配体.STEP-1/Pika Tracker PCBA V2.STEP-1;装配体.STEP-1/M-D080-950007-A.STEP-1;装配体.STEP-1/M-D080-950006-A.STEP-1;装配体.STEP-1/4310 ________.STEP-1,坐标系0,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
|
| 3 |
+
Center_rotate_Link,-0.00908900611798977,-1.11064821402274E-10,1.13603564055875E-10,0,0,0,0.00720439893573367,1.58379094214131E-06,1.58998588917429E-14,1.13606339115595E-14,1.10397739264053E-06,4.92877276378663E-07,1.08198992572532E-06,0,0,0,0,0,0,package://gripper9/meshes/Center_rotate_Link.STL,1,1,1,1,0,0,0,0,0,0,package://gripper9/meshes/Center_rotate_Link.STL,,装配体.STEP-1/M-D080-950003-C.STEP-1,坐标系1,基准轴1,Center_rotate_Joint,revolute,0,0.0794,0,3.14159265358979,0,1.5707963267949,base_link,-1,0,0,100,1,-3.14,3.14,,,,,,,,
|
| 4 |
+
Left_Link1,-0.00451809035012546,-0.0050172130255869,-0.0352788030932455,0,0,0,0.00233344487521202,1.00157431083692E-06,1.00544726374821E-08,7.06985586785449E-08,9.78020167250677E-07,-1.33193348160561E-07,6.04065643721678E-08,0,0,0,0,0,0,package://gripper9/meshes/Left_Link1.STL,0.741176470588235,0.741176470588235,0.741176470588235,1,0,0,0,0,0,0,package://gripper9/meshes/Left_Link1.STL,,装配体.STEP-1/M-D080-180003-D.STEP-2,坐标系2,基准轴2,Left_Joint1,revolute,-0.0005,0.0227232859586191,-0.0232357972801198,0,0,0,Center_rotate_Link,1,0,0,100,1,-3.14,3.14,,,,,,,,
|
| 5 |
+
Left_Link2,0.0523858056543818,0.0145744659642601,-0.0132453444083926,0,0,0,0.067021195078205,2.39707110963666E-05,3.87108357976256E-10,1.81031525739418E-05,5.08303478558263E-05,5.29682892821746E-10,4.55057387377733E-05,0,0,0,0,0,0,package://gripper9/meshes/Left_Link2.STL,1,1,1,1,0,0,0,0,0,0,package://gripper9/meshes/Left_Link2.STL,,装配体.STEP-1/______1-1.STEP-1/__________.STEP-1;装配体.STEP-1/______1-1.STEP-1/____________.STEP-1;装配体.STEP-1/MANIFOLD_SOLID_BREP_81-1.STEP-2;装配体.STEP-1/______1-1.STEP-1/M-D80-180008-A.STEP-1,坐标系7,基准轴10,Left_joint2,prismatic,0.0032999999999993,-0.00816634938772121,-0.0574222146706105,-3.14159265358979,0,0,Left_Link1,0,0,1,100,1,-3.14,3.14,,,,,,,,
|
| 6 |
+
Right_Link1,-0.0045180903028309,-0.00501721309858745,-0.0352788027784172,0,0,0,0.00233344478842126,1.00157430513464E-06,1.00544726039158E-08,7.0698562047413E-08,9.78020163861791E-07,-1.33193350106491E-07,6.04065659617006E-08,0,0,0,0,0,0,package://gripper9/meshes/Right_Link1.STL,0.741176470588235,0.741176470588235,0.741176470588235,1,0,0,0,0,0,0,package://gripper9/meshes/Right_Link1.STL,,装配体.STEP-1/M-D080-180003-D.STEP-1,坐标系3,基准轴3,Right_joint1,revolute,-0.0005,-0.0227232859586191,0.0232357972801198,3.14159265358979,0,0,Center_rotate_Link,-1,0,0,100,1,-3.14,3.14,,,,,,,,
|
| 7 |
+
Rright_Link2,0.0523858056543819,0.01457369594605,-0.0132453444083925,0,0,0,0.0670211950782051,2.39707110963853E-05,3.42132512361646E-10,1.81031525739416E-05,5.08303478558355E-05,5.29682902138805E-10,4.55057387377832E-05,0,0,0,0,0,0,package://gripper9/meshes/Rright_Link2.STL,1,1,1,1,0,0,0,0,0,0,package://gripper9/meshes/Rright_Link2.STL,,装配体.STEP-1/______1.STEP-1/M-D80-180008-A.STEP-1;装配体.STEP-1/MANIFOLD_SOLID_BREP_81-1.STEP-1;装配体.STEP-1/______1.STEP-1/____________.STEP-1;装配体.STEP-1/______1.STEP-1/__________.STEP-1,坐标系6,基准轴10,Rright_Joint2,prismatic,0.0033,-0.0081663,-0.057422,-3.1416,0,0,Right_Link1,0,0,-1,100,1,-3.14,3.14,,,,,,,,
|
| 8 |
+
center_Link,0.00689379101322024,-2.11593597018896E-06,-7.61911077146182E-08,0,0,0,0.00619627807274035,2.40104699268606E-05,-2.84040463473144E-11,-5.45439344287877E-13,2.39976164366923E-05,3.99625892509022E-13,3.69026910110048E-08,0,0,0,0,0,0,package://gripper9/meshes/center_Link.STL,1,1,1,1,0,0,0,0,0,0,package://gripper9/meshes/center_Link.STL,,装配体.STEP-1/MANIFOLD_SOLID_BREP_80.STEP-1,坐标系1,基准轴1,center_joint,fixed,0,0.0794,0,3.14159265358979,0,1.5707963267949,base_link,0,0,0,100,1,-3.14,3.14,,,,,,,,
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper9/urdf/gripper9.urdf
ADDED
|
@@ -0,0 +1,416 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
+
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
| 3 |
+
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
|
| 4 |
+
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
| 5 |
+
<robot
|
| 6 |
+
name="gripper9">
|
| 7 |
+
<link
|
| 8 |
+
name="base_link1">
|
| 9 |
+
<inertial>
|
| 10 |
+
<origin
|
| 11 |
+
xyz="0.00895157979030411 0.0364215348235876 3.07829537041747E-06"
|
| 12 |
+
rpy="0 0 0" />
|
| 13 |
+
<mass
|
| 14 |
+
value="0.214689487753452" />
|
| 15 |
+
<inertia
|
| 16 |
+
ixx="9.71591878800854E-05"
|
| 17 |
+
ixy="-1.90126582652055E-06"
|
| 18 |
+
ixz="2.19499163562307E-08"
|
| 19 |
+
iyy="0.000216463011868437"
|
| 20 |
+
iyz="2.8838843978869E-08"
|
| 21 |
+
izz="0.000158039782933548" />
|
| 22 |
+
</inertial>
|
| 23 |
+
<visual>
|
| 24 |
+
<origin
|
| 25 |
+
xyz="0 0 0"
|
| 26 |
+
rpy="0 0 0" />
|
| 27 |
+
<geometry>
|
| 28 |
+
<mesh
|
| 29 |
+
filename="package://gripper9/meshes/base_link1.STL" />
|
| 30 |
+
</geometry>
|
| 31 |
+
<material
|
| 32 |
+
name="">
|
| 33 |
+
<color
|
| 34 |
+
rgba="0.498039215686275 0.498039215686275 0.498039215686275 1" />
|
| 35 |
+
</material>
|
| 36 |
+
</visual>
|
| 37 |
+
<collision>
|
| 38 |
+
<origin
|
| 39 |
+
xyz="0 0 0"
|
| 40 |
+
rpy="0 0 0" />
|
| 41 |
+
<geometry>
|
| 42 |
+
<mesh
|
| 43 |
+
filename="package://gripper9/meshes/base_link1.STL" />
|
| 44 |
+
</geometry>
|
| 45 |
+
</collision>
|
| 46 |
+
</link>
|
| 47 |
+
<link
|
| 48 |
+
name="Center_rotate_Link">
|
| 49 |
+
<inertial>
|
| 50 |
+
<origin
|
| 51 |
+
xyz="-0.00908900611798977 -1.11064821402274E-10 1.13603564055875E-10"
|
| 52 |
+
rpy="0 0 0" />
|
| 53 |
+
<mass
|
| 54 |
+
value="0.00720439893573367" />
|
| 55 |
+
<inertia
|
| 56 |
+
ixx="1.58379094214131E-06"
|
| 57 |
+
ixy="1.58998588917429E-14"
|
| 58 |
+
ixz="1.13606339115595E-14"
|
| 59 |
+
iyy="1.10397739264053E-06"
|
| 60 |
+
iyz="4.92877276378663E-07"
|
| 61 |
+
izz="1.08198992572532E-06" />
|
| 62 |
+
</inertial>
|
| 63 |
+
<visual>
|
| 64 |
+
<origin
|
| 65 |
+
xyz="0 0 0"
|
| 66 |
+
rpy="0 0 0" />
|
| 67 |
+
<geometry>
|
| 68 |
+
<mesh
|
| 69 |
+
filename="package://gripper9/meshes/Center_rotate_Link.STL" />
|
| 70 |
+
</geometry>
|
| 71 |
+
<material
|
| 72 |
+
name="">
|
| 73 |
+
<color
|
| 74 |
+
rgba="1 1 1 1" />
|
| 75 |
+
</material>
|
| 76 |
+
</visual>
|
| 77 |
+
<collision>
|
| 78 |
+
<origin
|
| 79 |
+
xyz="0 0 0"
|
| 80 |
+
rpy="0 0 0" />
|
| 81 |
+
<geometry>
|
| 82 |
+
<mesh
|
| 83 |
+
filename="package://gripper9/meshes/Center_rotate_Link.STL" />
|
| 84 |
+
</geometry>
|
| 85 |
+
</collision>
|
| 86 |
+
</link>
|
| 87 |
+
<joint
|
| 88 |
+
name="Center_rotate_Joint"
|
| 89 |
+
type="revolute">
|
| 90 |
+
<origin
|
| 91 |
+
xyz="0 0.0794 0"
|
| 92 |
+
rpy="3.14159265358979 0 1.5707963267949" />
|
| 93 |
+
<parent
|
| 94 |
+
link="base_link1" />
|
| 95 |
+
<child
|
| 96 |
+
link="Center_rotate_Link" />
|
| 97 |
+
<axis
|
| 98 |
+
xyz="-1 0 0" />
|
| 99 |
+
<limit
|
| 100 |
+
lower="-3.14"
|
| 101 |
+
upper="3.14"
|
| 102 |
+
effort="100"
|
| 103 |
+
velocity="1" />
|
| 104 |
+
</joint>
|
| 105 |
+
<link
|
| 106 |
+
name="Left_Link1">
|
| 107 |
+
<inertial>
|
| 108 |
+
<origin
|
| 109 |
+
xyz="-0.00451809035012546 -0.0050172130255869 -0.0352788030932455"
|
| 110 |
+
rpy="0 0 0" />
|
| 111 |
+
<mass
|
| 112 |
+
value="0.00233344487521202" />
|
| 113 |
+
<inertia
|
| 114 |
+
ixx="1.00157431083692E-06"
|
| 115 |
+
ixy="1.00544726374821E-08"
|
| 116 |
+
ixz="7.06985586785449E-08"
|
| 117 |
+
iyy="9.78020167250677E-07"
|
| 118 |
+
iyz="-1.33193348160561E-07"
|
| 119 |
+
izz="6.04065643721678E-08" />
|
| 120 |
+
</inertial>
|
| 121 |
+
<visual>
|
| 122 |
+
<origin
|
| 123 |
+
xyz="0 0 0"
|
| 124 |
+
rpy="0 0 0" />
|
| 125 |
+
<geometry>
|
| 126 |
+
<mesh
|
| 127 |
+
filename="package://gripper9/meshes/Left_Link1.STL" />
|
| 128 |
+
</geometry>
|
| 129 |
+
<material
|
| 130 |
+
name="">
|
| 131 |
+
<color
|
| 132 |
+
rgba="0.741176470588235 0.741176470588235 0.741176470588235 1" />
|
| 133 |
+
</material>
|
| 134 |
+
</visual>
|
| 135 |
+
<collision>
|
| 136 |
+
<origin
|
| 137 |
+
xyz="0 0 0"
|
| 138 |
+
rpy="0 0 0" />
|
| 139 |
+
<geometry>
|
| 140 |
+
<mesh
|
| 141 |
+
filename="package://gripper9/meshes/Left_Link1.STL" />
|
| 142 |
+
</geometry>
|
| 143 |
+
</collision>
|
| 144 |
+
</link>
|
| 145 |
+
<joint
|
| 146 |
+
name="Left_Joint1"
|
| 147 |
+
type="revolute">
|
| 148 |
+
<origin
|
| 149 |
+
xyz="-0.0005 0.0227232859586191 -0.0232357972801198"
|
| 150 |
+
rpy="0 0 0" />
|
| 151 |
+
<parent
|
| 152 |
+
link="Center_rotate_Link" />
|
| 153 |
+
<child
|
| 154 |
+
link="Left_Link1" />
|
| 155 |
+
<axis
|
| 156 |
+
xyz="1 0 0" />
|
| 157 |
+
<limit
|
| 158 |
+
lower="-3.14"
|
| 159 |
+
upper="3.14"
|
| 160 |
+
effort="100"
|
| 161 |
+
velocity="1" />
|
| 162 |
+
</joint>
|
| 163 |
+
<link
|
| 164 |
+
name="Left_Link2">
|
| 165 |
+
<inertial>
|
| 166 |
+
<origin
|
| 167 |
+
xyz="0.0523858056543818 0.0145744659642601 -0.0132453444083926"
|
| 168 |
+
rpy="0 0 0" />
|
| 169 |
+
<mass
|
| 170 |
+
value="0.067021195078205" />
|
| 171 |
+
<inertia
|
| 172 |
+
ixx="2.39707110963666E-05"
|
| 173 |
+
ixy="3.87108357976256E-10"
|
| 174 |
+
ixz="1.81031525739418E-05"
|
| 175 |
+
iyy="5.08303478558263E-05"
|
| 176 |
+
iyz="5.29682892821746E-10"
|
| 177 |
+
izz="4.55057387377733E-05" />
|
| 178 |
+
</inertial>
|
| 179 |
+
<visual>
|
| 180 |
+
<origin
|
| 181 |
+
xyz="0 0 0"
|
| 182 |
+
rpy="0 0 0" />
|
| 183 |
+
<geometry>
|
| 184 |
+
<mesh
|
| 185 |
+
filename="package://gripper9/meshes/Left_Link2.STL" />
|
| 186 |
+
</geometry>
|
| 187 |
+
<material
|
| 188 |
+
name="">
|
| 189 |
+
<color
|
| 190 |
+
rgba="1 1 1 1" />
|
| 191 |
+
</material>
|
| 192 |
+
</visual>
|
| 193 |
+
<collision>
|
| 194 |
+
<origin
|
| 195 |
+
xyz="0 0 0"
|
| 196 |
+
rpy="0 0 0" />
|
| 197 |
+
<geometry>
|
| 198 |
+
<mesh
|
| 199 |
+
filename="package://gripper9/meshes/Left_Link2.STL" />
|
| 200 |
+
</geometry>
|
| 201 |
+
</collision>
|
| 202 |
+
</link>
|
| 203 |
+
<joint
|
| 204 |
+
name="Left_joint2"
|
| 205 |
+
type="prismatic">
|
| 206 |
+
<origin
|
| 207 |
+
xyz="0.0032999999999993 -0.00816634938772121 -0.0574222146706105"
|
| 208 |
+
rpy="-3.14159265358979 0 0" />
|
| 209 |
+
<parent
|
| 210 |
+
link="Left_Link1" />
|
| 211 |
+
<child
|
| 212 |
+
link="Left_Link2" />
|
| 213 |
+
<axis
|
| 214 |
+
xyz="0 0 1" />
|
| 215 |
+
<limit
|
| 216 |
+
lower="-3.14"
|
| 217 |
+
upper="3.14"
|
| 218 |
+
effort="100"
|
| 219 |
+
velocity="1" />
|
| 220 |
+
</joint>
|
| 221 |
+
<joint name="Left_joint3" type="revolute">
|
| 222 |
+
<origin
|
| 223 |
+
xyz="0.0032999999999993 -0.00816634938772121 -0.0574222146706105"
|
| 224 |
+
rpy="-3.14159265358979 0 0"/>
|
| 225 |
+
<parent link="Left_Link1"/>
|
| 226 |
+
<child link="Left_Link2"/>
|
| 227 |
+
<axis xyz="1 0 0"/>
|
| 228 |
+
<limit effort="100" lower="-3.14" upper="3.14" velocity="1"/>
|
| 229 |
+
<mimic joint="Center_rotate_Joint" multiplier="0.04" />
|
| 230 |
+
</joint>
|
| 231 |
+
<link
|
| 232 |
+
name="Right_Link1">
|
| 233 |
+
<inertial>
|
| 234 |
+
<origin
|
| 235 |
+
xyz="-0.0045180903028309 -0.00501721309858745 -0.0352788027784172"
|
| 236 |
+
rpy="0 0 0" />
|
| 237 |
+
<mass
|
| 238 |
+
value="0.00233344478842126" />
|
| 239 |
+
<inertia
|
| 240 |
+
ixx="1.00157430513464E-06"
|
| 241 |
+
ixy="1.00544726039158E-08"
|
| 242 |
+
ixz="7.0698562047413E-08"
|
| 243 |
+
iyy="9.78020163861791E-07"
|
| 244 |
+
iyz="-1.33193350106491E-07"
|
| 245 |
+
izz="6.04065659617006E-08" />
|
| 246 |
+
</inertial>
|
| 247 |
+
<visual>
|
| 248 |
+
<origin
|
| 249 |
+
xyz="0 0 0"
|
| 250 |
+
rpy="0 0 0" />
|
| 251 |
+
<geometry>
|
| 252 |
+
<mesh
|
| 253 |
+
filename="package://gripper9/meshes/Right_Link1.STL" />
|
| 254 |
+
</geometry>
|
| 255 |
+
<material
|
| 256 |
+
name="">
|
| 257 |
+
<color
|
| 258 |
+
rgba="0.741176470588235 0.741176470588235 0.741176470588235 1" />
|
| 259 |
+
</material>
|
| 260 |
+
</visual>
|
| 261 |
+
<collision>
|
| 262 |
+
<origin
|
| 263 |
+
xyz="0 0 0"
|
| 264 |
+
rpy="0 0 0" />
|
| 265 |
+
<geometry>
|
| 266 |
+
<mesh
|
| 267 |
+
filename="package://gripper9/meshes/Right_Link1.STL" />
|
| 268 |
+
</geometry>
|
| 269 |
+
</collision>
|
| 270 |
+
</link>
|
| 271 |
+
<joint
|
| 272 |
+
name="Right_joint1"
|
| 273 |
+
type="revolute">
|
| 274 |
+
<origin
|
| 275 |
+
xyz="-0.0005 -0.0227232859586191 0.0232357972801198"
|
| 276 |
+
rpy="3.14159265358979 0 0" />
|
| 277 |
+
<parent
|
| 278 |
+
link="Center_rotate_Link" />
|
| 279 |
+
<child
|
| 280 |
+
link="Right_Link1" />
|
| 281 |
+
<axis
|
| 282 |
+
xyz="-1 0 0" />
|
| 283 |
+
<limit
|
| 284 |
+
lower="-3.14"
|
| 285 |
+
upper="3.14"
|
| 286 |
+
effort="100"
|
| 287 |
+
velocity="1" />
|
| 288 |
+
</joint>
|
| 289 |
+
<link
|
| 290 |
+
name="Rright_Link2">
|
| 291 |
+
<inertial>
|
| 292 |
+
<origin
|
| 293 |
+
xyz="0.0523858056543819 0.01457369594605 -0.0132453444083925"
|
| 294 |
+
rpy="0 0 0" />
|
| 295 |
+
<mass
|
| 296 |
+
value="0.0670211950782051" />
|
| 297 |
+
<inertia
|
| 298 |
+
ixx="2.39707110963853E-05"
|
| 299 |
+
ixy="3.42132512361646E-10"
|
| 300 |
+
ixz="1.81031525739416E-05"
|
| 301 |
+
iyy="5.08303478558355E-05"
|
| 302 |
+
iyz="5.29682902138805E-10"
|
| 303 |
+
izz="4.55057387377832E-05" />
|
| 304 |
+
</inertial>
|
| 305 |
+
<visual>
|
| 306 |
+
<origin
|
| 307 |
+
xyz="0 0 0"
|
| 308 |
+
rpy="0 0 0" />
|
| 309 |
+
<geometry>
|
| 310 |
+
<mesh
|
| 311 |
+
filename="package://gripper9/meshes/Rright_Link2.STL" />
|
| 312 |
+
</geometry>
|
| 313 |
+
<material
|
| 314 |
+
name="">
|
| 315 |
+
<color
|
| 316 |
+
rgba="1 1 1 1" />
|
| 317 |
+
</material>
|
| 318 |
+
</visual>
|
| 319 |
+
<collision>
|
| 320 |
+
<origin
|
| 321 |
+
xyz="0 0 0"
|
| 322 |
+
rpy="0 0 0" />
|
| 323 |
+
<geometry>
|
| 324 |
+
<mesh
|
| 325 |
+
filename="package://gripper9/meshes/Rright_Link2.STL" />
|
| 326 |
+
</geometry>
|
| 327 |
+
</collision>
|
| 328 |
+
</link>
|
| 329 |
+
<joint
|
| 330 |
+
name="Rright_Joint2"
|
| 331 |
+
type="prismatic">
|
| 332 |
+
<origin
|
| 333 |
+
xyz="0.0033 -0.0081663 -0.057422"
|
| 334 |
+
rpy="-3.1416 0 0" />
|
| 335 |
+
<parent
|
| 336 |
+
link="Right_Link1" />
|
| 337 |
+
<child
|
| 338 |
+
link="Rright_Link2" />
|
| 339 |
+
<axis
|
| 340 |
+
xyz="0 0 -1" />
|
| 341 |
+
<limit
|
| 342 |
+
lower="-3.14"
|
| 343 |
+
upper="3.14"
|
| 344 |
+
effort="100"
|
| 345 |
+
velocity="1" />
|
| 346 |
+
</joint>
|
| 347 |
+
<joint name="Right_joint3" type="revolute">
|
| 348 |
+
<origin
|
| 349 |
+
xyz="0.0033 -0.0081663 -0.057422"
|
| 350 |
+
rpy="-3.1416 0 0"/>
|
| 351 |
+
<parent link="Right_Link1"/>
|
| 352 |
+
<child link="Rright_Link2"/>
|
| 353 |
+
<axis xyz="1 0 0"/>
|
| 354 |
+
<limit effort="100" lower="-3.14" upper="3.14" velocity="1"/>
|
| 355 |
+
<mimic joint="Center_rotate_Joint" multiplier="0.01" />
|
| 356 |
+
</joint>
|
| 357 |
+
|
| 358 |
+
<link
|
| 359 |
+
name="center_Link">
|
| 360 |
+
<inertial>
|
| 361 |
+
<origin
|
| 362 |
+
xyz="0.00689379101322024 -2.11593597018896E-06 -7.61911077146182E-08"
|
| 363 |
+
rpy="0 0 0" />
|
| 364 |
+
<mass
|
| 365 |
+
value="0.00619627807274035" />
|
| 366 |
+
<inertia
|
| 367 |
+
ixx="2.40104699268606E-05"
|
| 368 |
+
ixy="-2.84040463473144E-11"
|
| 369 |
+
ixz="-5.45439344287877E-13"
|
| 370 |
+
iyy="2.39976164366923E-05"
|
| 371 |
+
iyz="3.99625892509022E-13"
|
| 372 |
+
izz="3.69026910110048E-08" />
|
| 373 |
+
</inertial>
|
| 374 |
+
<visual>
|
| 375 |
+
<origin
|
| 376 |
+
xyz="0 0 0"
|
| 377 |
+
rpy="0 0 0" />
|
| 378 |
+
<geometry>
|
| 379 |
+
<mesh
|
| 380 |
+
filename="package://gripper9/meshes/center_Link.STL" />
|
| 381 |
+
</geometry>
|
| 382 |
+
<material
|
| 383 |
+
name="">
|
| 384 |
+
<color
|
| 385 |
+
rgba="1 1 1 1" />
|
| 386 |
+
</material>
|
| 387 |
+
</visual>
|
| 388 |
+
<collision>
|
| 389 |
+
<origin
|
| 390 |
+
xyz="0 0 0"
|
| 391 |
+
rpy="0 0 0" />
|
| 392 |
+
<geometry>
|
| 393 |
+
<mesh
|
| 394 |
+
filename="package://gripper9/meshes/center_Link.STL" />
|
| 395 |
+
</geometry>
|
| 396 |
+
</collision>
|
| 397 |
+
</link>
|
| 398 |
+
<joint
|
| 399 |
+
name="center_joint"
|
| 400 |
+
type="fixed">
|
| 401 |
+
<origin
|
| 402 |
+
xyz="0 0.0794 0"
|
| 403 |
+
rpy="3.14159265358979 0 1.5707963267949" />
|
| 404 |
+
<parent
|
| 405 |
+
link="base_link1" />
|
| 406 |
+
<child
|
| 407 |
+
link="center_Link" />
|
| 408 |
+
<axis
|
| 409 |
+
xyz="0 0 0" />
|
| 410 |
+
<limit
|
| 411 |
+
lower="-3.14"
|
| 412 |
+
upper="3.14"
|
| 413 |
+
effort="100"
|
| 414 |
+
velocity="1" />
|
| 415 |
+
</joint>
|
| 416 |
+
</robot>
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper_limit/CMakeLists.txt
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
cmake_minimum_required(VERSION 2.8.3)
|
| 2 |
+
|
| 3 |
+
project(gripper_limit)
|
| 4 |
+
|
| 5 |
+
find_package(catkin REQUIRED)
|
| 6 |
+
|
| 7 |
+
catkin_package()
|
| 8 |
+
|
| 9 |
+
find_package(roslaunch)
|
| 10 |
+
|
| 11 |
+
foreach(dir config launch meshes urdf)
|
| 12 |
+
install(DIRECTORY ${dir}/
|
| 13 |
+
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
|
| 14 |
+
endforeach(dir)
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper_limit/config/joint_names_gripper_limit.yaml
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
controller_joint_names: ['', 'Center_rotate_Joint', 'Left_Joint1', 'Right_joint1', 'Left_joint2', 'Rright_Joint2', ]
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper_limit/export.log
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper_limit/launch/display.launch
ADDED
|
@@ -0,0 +1,20 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<launch>
|
| 2 |
+
<arg
|
| 3 |
+
name="model" />
|
| 4 |
+
<param
|
| 5 |
+
name="robot_description"
|
| 6 |
+
textfile="$(find gripper_limit)/urdf/gripper_limit.urdf" />
|
| 7 |
+
<node
|
| 8 |
+
name="joint_state_publisher_gui"
|
| 9 |
+
pkg="joint_state_publisher_gui"
|
| 10 |
+
type="joint_state_publisher_gui" />
|
| 11 |
+
<node
|
| 12 |
+
name="robot_state_publisher"
|
| 13 |
+
pkg="robot_state_publisher"
|
| 14 |
+
type="robot_state_publisher" />
|
| 15 |
+
<node
|
| 16 |
+
name="rviz"
|
| 17 |
+
pkg="rviz"
|
| 18 |
+
type="rviz"
|
| 19 |
+
args="-d $(find gripper_limit)/urdf.rviz" />
|
| 20 |
+
</launch>
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper_limit/launch/gazebo.launch
ADDED
|
@@ -0,0 +1,20 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<launch>
|
| 2 |
+
<include
|
| 3 |
+
file="$(find gazebo_ros)/launch/empty_world.launch" />
|
| 4 |
+
<node
|
| 5 |
+
name="tf_footprint_base"
|
| 6 |
+
pkg="tf"
|
| 7 |
+
type="static_transform_publisher"
|
| 8 |
+
args="0 0 0 0 0 0 base_link base_footprint 40" />
|
| 9 |
+
<node
|
| 10 |
+
name="spawn_model"
|
| 11 |
+
pkg="gazebo_ros"
|
| 12 |
+
type="spawn_model"
|
| 13 |
+
args="-file $(find gripper_limit)/urdf/gripper_limit.urdf -urdf -model gripper_limit"
|
| 14 |
+
output="screen" />
|
| 15 |
+
<node
|
| 16 |
+
name="fake_joint_calibration"
|
| 17 |
+
pkg="rostopic"
|
| 18 |
+
type="rostopic"
|
| 19 |
+
args="pub /calibrated std_msgs/Bool true" />
|
| 20 |
+
</launch>
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper_limit/meshes/Center_rotate_Link.STL
ADDED
|
Binary file (72.7 kB). View file
|
|
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper_limit/package.xml
ADDED
|
@@ -0,0 +1,21 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<package format="2">
|
| 2 |
+
<name>gripper_limit</name>
|
| 3 |
+
<version>1.0.0</version>
|
| 4 |
+
<description>
|
| 5 |
+
<p>URDF Description package for gripper_limit</p>
|
| 6 |
+
<p>This package contains configuration data, 3D models and launch files
|
| 7 |
+
for gripper_limit robot</p>
|
| 8 |
+
</description>
|
| 9 |
+
<author>TODO</author>
|
| 10 |
+
<maintainer email="TODO@email.com" />
|
| 11 |
+
<license>BSD</license>
|
| 12 |
+
<buildtool_depend>catkin</buildtool_depend>
|
| 13 |
+
<depend>roslaunch</depend>
|
| 14 |
+
<depend>robot_state_publisher</depend>
|
| 15 |
+
<depend>rviz</depend>
|
| 16 |
+
<depend>joint_state_publisher_gui</depend>
|
| 17 |
+
<depend>gazebo</depend>
|
| 18 |
+
<export>
|
| 19 |
+
<architecture_independent />
|
| 20 |
+
</export>
|
| 21 |
+
</package>
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper_limit/urdf/gripper_limit.csv
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
|
| 2 |
+
base_link,0.0089515823020792,0.0364215347230419,3.07821133543884E-06,0,0,0,0.214689495088711,9.71591882008294E-05,-1.9012685981664E-06,2.1951034345944E-08,0.000216463037732514,2.88389984590885E-08,0.000158039808990569,0,0,0,0,0,0,package://gripper_limit/meshes/base_link.STL,0.498039215686275,0.498039215686275,0.498039215686275,1,0,0,0,0,0,0,package://gripper_limit/meshes/base_link.STL,,装配体.STEP-1/M-D080-950001-C.STEP-1;装配体.STEP-1/DECXIN-2M-2159V2-1.STEP-1;装配体.STEP-1/____405.STEP-1/M-D080-180011-A.STEP-1;装配体.STEP-1/M-D080-950002-C.STEP-1;装配体.STEP-1/Pika Tracker XT302+2 PCBA.STEP-1;装配体.STEP-1/Pika Tracker PCBA V2.STEP-1;装配体.STEP-1/M-D080-950007-A.STEP-1;装配体.STEP-1/M-D080-950006-A.STEP-1;装配体.STEP-1/4310 ________.STEP-1,坐标系0,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
|
| 3 |
+
Center_rotate_Link,-0.00908900611798977,-1.11064821402274E-10,1.13603564055875E-10,0,0,0,0.00720439893573367,1.58379094214131E-06,1.58998588969777E-14,1.13606339035881E-14,1.10397739264053E-06,4.92877276378663E-07,1.08198992572532E-06,0,0,0,0,0,0,package://gripper_limit/meshes/Center_rotate_Link.STL,1,1,1,1,0,0,0,0,0,0,package://gripper_limit/meshes/Center_rotate_Link.STL,,装配体.STEP-1/M-D080-950003-C.STEP-1,坐标系1,基准轴1,Center_rotate_Joint,revolute,0,0.0794,0,3.1416,0,1.5708,base_link,-1,0,0,100,1,-3.14,3.14,,,,,,,,
|
| 4 |
+
Left_Link1,-0.00451809035012546,-0.0050172130255869,-0.0352788030932455,0,0,0,0.00233344487521202,1.00157431083692E-06,1.00544726374822E-08,7.06985586785449E-08,9.78020167250677E-07,-1.33193348160561E-07,6.04065643721678E-08,0,0,0,0,0,0,package://gripper_limit/meshes/Left_Link1.STL,0.741176470588235,0.741176470588235,0.741176470588235,1,0,0,0,0,0,0,package://gripper_limit/meshes/Left_Link1.STL,,装配体.STEP-1/M-D080-180003-D.STEP-2,坐标系2,基准轴2,Left_Joint1,revolute,-0.0005,0.022723,-0.023236,0,0,0,Center_rotate_Link,1,0,0,100,1,-3.14,3.14,,,,,,,,
|
| 5 |
+
Right_Link1,-0.0045180903028309,-0.00501721309858745,-0.0352788027784172,0,0,0,0.00233344478842126,1.00157430513464E-06,1.00544726039158E-08,7.0698562047413E-08,9.78020163861791E-07,-1.33193350106491E-07,6.04065659617006E-08,0,0,0,0,0,0,package://gripper_limit/meshes/Right_Link1.STL,0.741176470588235,0.741176470588235,0.741176470588235,1,0,0,0,0,0,0,package://gripper_limit/meshes/Right_Link1.STL,,装配体.STEP-1/M-D080-180003-D.STEP-1,坐标系3,基准轴3,Right_joint1,revolute,-0.0005,-0.0227232859586191,0.0232357972801198,3.14159265358979,0,0,Center_rotate_Link,-1,0,0,100,1,-3.14,3.14,,,,,,,,
|
| 6 |
+
center_Link,0.0068945804335506,-2.10020883707925E-06,-7.56248014974203E-08,0,0,0,0.00624267807274035,2.4011000360194E-05,-2.84040463473136E-11,-5.45439344288511E-13,2.39979795580256E-05,3.99625892508963E-13,3.77943123443381E-08,0,0,0,0,0,0,package://gripper_limit/meshes/center_Link.STL,1,1,1,1,0,0,0,0,0,0,package://gripper_limit/meshes/center_Link.STL,,装配体.STEP-1/MANIFOLD_SOLID_BREP_80.STEP-1;limit-2;limit-1,坐标系1,基准轴1,center_joint,fixed,0,0.0794,0,3.1416,0,1.5708,base_link,0,0,0,100,1,-3.14,3.14,,,,,,,,
|
| 7 |
+
Left_Link2,0.0349979672550352,-1.75293933273634E-05,0.0221808688738466,0,0,0,0.0670211950774006,2.39707110958104E-05,-3.8710832310627E-10,-1.81031525736247E-05,5.08303478550788E-05,5.29682952083909E-10,4.55057387375641E-05,0,0,0,0,0,0,package://gripper_limit/meshes/Left_Link2.STL,1,1,1,1,0,0,0,0,0,0,package://gripper_limit/meshes/Left_Link2.STL,,装配体.STEP-1/______1-1.STEP-1/__________.STEP-1;装配体.STEP-1/______1-1.STEP-1/____________.STEP-1;装配体.STEP-1/MANIFOLD_SOLID_BREP_81-1.STEP-2;装配体.STEP-1/______1-1.STEP-1/M-D80-180008-A.STEP-1,坐标系4,基准轴5,Left_joint2,prismatic,0.020188,0,-0.089594,0,0,0,center_Link,0,0,1,100,1,-3.14,3.14,,,,,,,,
|
| 8 |
+
Rright_Link2,0.0349979672550352,-1.67593751175072E-05,0.0221808688738466,0,0,0,0.0670211950774007,2.39707110958292E-05,-3.4213247738782E-10,-1.81031525736246E-05,5.08303478550878E-05,5.29682961492459E-10,4.55057387375739E-05,0,0,0,0,0,0,package://gripper_limit/meshes/Rright_Link2.STL,1,1,1,1,0,0,0,0,0,0,package://gripper_limit/meshes/Rright_Link2.STL,,装配体.STEP-1/______1.STEP-1/M-D80-180008-A.STEP-1;装配体.STEP-1/MANIFOLD_SOLID_BREP_81-1.STEP-1;装配体.STEP-1/______1.STEP-1/____________.STEP-1;装配体.STEP-1/______1.STEP-1/__________.STEP-1,坐标系5,基准轴6,Rright_Joint2,prismatic,0.020188,0,0.089594,-3.1416,0,0,center_Link,0,0,1,100,1,-3.14,3.14,,,,,,,,
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/gripper_limit/urdf/gripper_limit.urdf
ADDED
|
@@ -0,0 +1,395 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
+
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
| 3 |
+
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
|
| 4 |
+
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
| 5 |
+
<robot
|
| 6 |
+
name="gripper_limit">
|
| 7 |
+
<link
|
| 8 |
+
name="base_link1">
|
| 9 |
+
<inertial>
|
| 10 |
+
<origin
|
| 11 |
+
xyz="0.0089515823020792 0.0364215347230419 3.07821133543884E-06"
|
| 12 |
+
rpy="0 0 0" />
|
| 13 |
+
<mass
|
| 14 |
+
value="0.214689495088711" />
|
| 15 |
+
<inertia
|
| 16 |
+
ixx="9.71591882008294E-05"
|
| 17 |
+
ixy="-1.9012685981664E-06"
|
| 18 |
+
ixz="2.1951034345944E-08"
|
| 19 |
+
iyy="0.000216463037732514"
|
| 20 |
+
iyz="2.88389984590885E-08"
|
| 21 |
+
izz="0.000158039808990569" />
|
| 22 |
+
</inertial>
|
| 23 |
+
<visual>
|
| 24 |
+
<origin
|
| 25 |
+
xyz="0 0 0"
|
| 26 |
+
rpy="0 0 0" />
|
| 27 |
+
<geometry>
|
| 28 |
+
<mesh
|
| 29 |
+
filename="package://gripper_limit/meshes/base_link1.STL" />
|
| 30 |
+
</geometry>
|
| 31 |
+
<material
|
| 32 |
+
name="">
|
| 33 |
+
<color
|
| 34 |
+
rgba="0.498039215686275 0.498039215686275 0.498039215686275 1" />
|
| 35 |
+
</material>
|
| 36 |
+
</visual>
|
| 37 |
+
<collision>
|
| 38 |
+
<origin
|
| 39 |
+
xyz="0 0 0"
|
| 40 |
+
rpy="0 0 0" />
|
| 41 |
+
<geometry>
|
| 42 |
+
<mesh
|
| 43 |
+
filename="package://gripper_limit/meshes/base_link1.STL" />
|
| 44 |
+
</geometry>
|
| 45 |
+
</collision>
|
| 46 |
+
</link>
|
| 47 |
+
<link
|
| 48 |
+
name="Center_rotate_Link">
|
| 49 |
+
<inertial>
|
| 50 |
+
<origin
|
| 51 |
+
xyz="-0.00908900611798977 -1.11064821402274E-10 1.13603564055875E-10"
|
| 52 |
+
rpy="0 0 0" />
|
| 53 |
+
<mass
|
| 54 |
+
value="0.00720439893573367" />
|
| 55 |
+
<inertia
|
| 56 |
+
ixx="1.58379094214131E-06"
|
| 57 |
+
ixy="1.58998588969777E-14"
|
| 58 |
+
ixz="1.13606339035881E-14"
|
| 59 |
+
iyy="1.10397739264053E-06"
|
| 60 |
+
iyz="4.92877276378663E-07"
|
| 61 |
+
izz="1.08198992572532E-06" />
|
| 62 |
+
</inertial>
|
| 63 |
+
<visual>
|
| 64 |
+
<origin
|
| 65 |
+
xyz="0 0 0"
|
| 66 |
+
rpy="0 0 0" />
|
| 67 |
+
<geometry>
|
| 68 |
+
<mesh
|
| 69 |
+
filename="package://gripper_limit/meshes/Center_rotate_Link.STL" />
|
| 70 |
+
</geometry>
|
| 71 |
+
<material
|
| 72 |
+
name="">
|
| 73 |
+
<color
|
| 74 |
+
rgba="1 1 1 1" />
|
| 75 |
+
</material>
|
| 76 |
+
</visual>
|
| 77 |
+
<collision>
|
| 78 |
+
<origin
|
| 79 |
+
xyz="0 0 0"
|
| 80 |
+
rpy="0 0 0" />
|
| 81 |
+
<geometry>
|
| 82 |
+
<mesh
|
| 83 |
+
filename="package://gripper_limit/meshes/Center_rotate_Link.STL" />
|
| 84 |
+
</geometry>
|
| 85 |
+
</collision>
|
| 86 |
+
</link>
|
| 87 |
+
<joint
|
| 88 |
+
name="Center_rotate_Joint"
|
| 89 |
+
type="revolute">
|
| 90 |
+
<origin
|
| 91 |
+
xyz="0 0.0794 0"
|
| 92 |
+
rpy="3.1416 0 1.5708" />
|
| 93 |
+
<parent
|
| 94 |
+
link="base_link1" />
|
| 95 |
+
<child
|
| 96 |
+
link="Center_rotate_Link" />
|
| 97 |
+
<axis
|
| 98 |
+
xyz="-1 0 0" />
|
| 99 |
+
<limit
|
| 100 |
+
lower="-3.14"
|
| 101 |
+
upper="3.14"
|
| 102 |
+
effort="100"
|
| 103 |
+
velocity="1" />
|
| 104 |
+
</joint>
|
| 105 |
+
<link
|
| 106 |
+
name="Left_Link1">
|
| 107 |
+
<inertial>
|
| 108 |
+
<origin
|
| 109 |
+
xyz="-0.00451809035012546 -0.0050172130255869 -0.0352788030932455"
|
| 110 |
+
rpy="0 0 0" />
|
| 111 |
+
<mass
|
| 112 |
+
value="0.00233344487521202" />
|
| 113 |
+
<inertia
|
| 114 |
+
ixx="1.00157431083692E-06"
|
| 115 |
+
ixy="1.00544726374822E-08"
|
| 116 |
+
ixz="7.06985586785449E-08"
|
| 117 |
+
iyy="9.78020167250677E-07"
|
| 118 |
+
iyz="-1.33193348160561E-07"
|
| 119 |
+
izz="6.04065643721678E-08" />
|
| 120 |
+
</inertial>
|
| 121 |
+
<visual>
|
| 122 |
+
<origin
|
| 123 |
+
xyz="0 0 0"
|
| 124 |
+
rpy="0 0 0" />
|
| 125 |
+
<geometry>
|
| 126 |
+
<mesh
|
| 127 |
+
filename="package://gripper_limit/meshes/Left_Link1.STL" />
|
| 128 |
+
</geometry>
|
| 129 |
+
<material
|
| 130 |
+
name="">
|
| 131 |
+
<color
|
| 132 |
+
rgba="0.741176470588235 0.741176470588235 0.741176470588235 1" />
|
| 133 |
+
</material>
|
| 134 |
+
</visual>
|
| 135 |
+
<collision>
|
| 136 |
+
<origin
|
| 137 |
+
xyz="0 0 0"
|
| 138 |
+
rpy="0 0 0" />
|
| 139 |
+
<geometry>
|
| 140 |
+
<mesh
|
| 141 |
+
filename="package://gripper_limit/meshes/Left_Link1.STL" />
|
| 142 |
+
</geometry>
|
| 143 |
+
</collision>
|
| 144 |
+
</link>
|
| 145 |
+
<joint
|
| 146 |
+
name="Left_Joint1"
|
| 147 |
+
type="revolute">
|
| 148 |
+
<origin
|
| 149 |
+
xyz="-0.0005 0.022723 -0.023236"
|
| 150 |
+
rpy="0 0 0" />
|
| 151 |
+
<parent
|
| 152 |
+
link="Center_rotate_Link" />
|
| 153 |
+
<child
|
| 154 |
+
link="Left_Link1" />
|
| 155 |
+
<axis
|
| 156 |
+
xyz="1 0 0" />
|
| 157 |
+
<limit
|
| 158 |
+
lower="-3.14"
|
| 159 |
+
upper="3.14"
|
| 160 |
+
effort="100"
|
| 161 |
+
velocity="1" />
|
| 162 |
+
</joint>
|
| 163 |
+
<link
|
| 164 |
+
name="Right_Link1">
|
| 165 |
+
<inertial>
|
| 166 |
+
<origin
|
| 167 |
+
xyz="-0.0045180903028309 -0.00501721309858745 -0.0352788027784172"
|
| 168 |
+
rpy="0 0 0" />
|
| 169 |
+
<mass
|
| 170 |
+
value="0.00233344478842126" />
|
| 171 |
+
<inertia
|
| 172 |
+
ixx="1.00157430513464E-06"
|
| 173 |
+
ixy="1.00544726039158E-08"
|
| 174 |
+
ixz="7.0698562047413E-08"
|
| 175 |
+
iyy="9.78020163861791E-07"
|
| 176 |
+
iyz="-1.33193350106491E-07"
|
| 177 |
+
izz="6.04065659617006E-08" />
|
| 178 |
+
</inertial>
|
| 179 |
+
<visual>
|
| 180 |
+
<origin
|
| 181 |
+
xyz="0 0 0"
|
| 182 |
+
rpy="0 0 0" />
|
| 183 |
+
<geometry>
|
| 184 |
+
<mesh
|
| 185 |
+
filename="package://gripper_limit/meshes/Right_Link1.STL" />
|
| 186 |
+
</geometry>
|
| 187 |
+
<material
|
| 188 |
+
name="">
|
| 189 |
+
<color
|
| 190 |
+
rgba="0.741176470588235 0.741176470588235 0.741176470588235 1" />
|
| 191 |
+
</material>
|
| 192 |
+
</visual>
|
| 193 |
+
<collision>
|
| 194 |
+
<origin
|
| 195 |
+
xyz="0 0 0"
|
| 196 |
+
rpy="0 0 0" />
|
| 197 |
+
<geometry>
|
| 198 |
+
<mesh
|
| 199 |
+
filename="package://gripper_limit/meshes/Right_Link1.STL" />
|
| 200 |
+
</geometry>
|
| 201 |
+
</collision>
|
| 202 |
+
</link>
|
| 203 |
+
<joint
|
| 204 |
+
name="Right_joint1"
|
| 205 |
+
type="revolute">
|
| 206 |
+
<origin
|
| 207 |
+
xyz="-0.0005 -0.0227232859586191 0.0232357972801198"
|
| 208 |
+
rpy="3.14159265358979 0 0" />
|
| 209 |
+
<parent
|
| 210 |
+
link="Center_rotate_Link" />
|
| 211 |
+
<child
|
| 212 |
+
link="Right_Link1" />
|
| 213 |
+
<axis
|
| 214 |
+
xyz="-1 0 0" />
|
| 215 |
+
<limit
|
| 216 |
+
lower="-3.14"
|
| 217 |
+
upper="3.14"
|
| 218 |
+
effort="100"
|
| 219 |
+
velocity="1" />
|
| 220 |
+
</joint>
|
| 221 |
+
<link
|
| 222 |
+
name="center_Link">
|
| 223 |
+
<inertial>
|
| 224 |
+
<origin
|
| 225 |
+
xyz="0.0068945804335506 -2.10020883707925E-06 -7.56248014974203E-08"
|
| 226 |
+
rpy="0 0 0" />
|
| 227 |
+
<mass
|
| 228 |
+
value="0.00624267807274035" />
|
| 229 |
+
<inertia
|
| 230 |
+
ixx="2.4011000360194E-05"
|
| 231 |
+
ixy="-2.84040463473136E-11"
|
| 232 |
+
ixz="-5.45439344288511E-13"
|
| 233 |
+
iyy="2.39979795580256E-05"
|
| 234 |
+
iyz="3.99625892508963E-13"
|
| 235 |
+
izz="3.77943123443381E-08" />
|
| 236 |
+
</inertial>
|
| 237 |
+
<visual>
|
| 238 |
+
<origin
|
| 239 |
+
xyz="0 0 0"
|
| 240 |
+
rpy="0 0 0" />
|
| 241 |
+
<geometry>
|
| 242 |
+
<mesh
|
| 243 |
+
filename="package://gripper_limit/meshes/center_Link.STL" />
|
| 244 |
+
</geometry>
|
| 245 |
+
<material
|
| 246 |
+
name="">
|
| 247 |
+
<color
|
| 248 |
+
rgba="1 1 1 1" />
|
| 249 |
+
</material>
|
| 250 |
+
</visual>
|
| 251 |
+
<collision>
|
| 252 |
+
<origin
|
| 253 |
+
xyz="0 0 0"
|
| 254 |
+
rpy="0 0 0" />
|
| 255 |
+
<geometry>
|
| 256 |
+
<mesh
|
| 257 |
+
filename="package://gripper_limit/meshes/center_Link.STL" />
|
| 258 |
+
</geometry>
|
| 259 |
+
</collision>
|
| 260 |
+
</link>
|
| 261 |
+
<joint
|
| 262 |
+
name="center_joint"
|
| 263 |
+
type="fixed">
|
| 264 |
+
<origin
|
| 265 |
+
xyz="0 0.0794 0"
|
| 266 |
+
rpy="3.1416 0 1.5708" />
|
| 267 |
+
<parent
|
| 268 |
+
link="base_link1" />
|
| 269 |
+
<child
|
| 270 |
+
link="center_Link" />
|
| 271 |
+
<axis
|
| 272 |
+
xyz="0 0 0" />
|
| 273 |
+
<limit
|
| 274 |
+
lower="-3.14"
|
| 275 |
+
upper="3.14"
|
| 276 |
+
effort="100"
|
| 277 |
+
velocity="1" />
|
| 278 |
+
</joint>
|
| 279 |
+
<link
|
| 280 |
+
name="Left_Link2">
|
| 281 |
+
<inertial>
|
| 282 |
+
<origin
|
| 283 |
+
xyz="0.0349979672550352 -1.75293933273634E-05 0.0221808688738466"
|
| 284 |
+
rpy="0 0 0" />
|
| 285 |
+
<mass
|
| 286 |
+
value="0.0670211950774006" />
|
| 287 |
+
<inertia
|
| 288 |
+
ixx="2.39707110958104E-05"
|
| 289 |
+
ixy="-3.8710832310627E-10"
|
| 290 |
+
ixz="-1.81031525736247E-05"
|
| 291 |
+
iyy="5.08303478550788E-05"
|
| 292 |
+
iyz="5.29682952083909E-10"
|
| 293 |
+
izz="4.55057387375641E-05" />
|
| 294 |
+
</inertial>
|
| 295 |
+
<visual>
|
| 296 |
+
<origin
|
| 297 |
+
xyz="0 0 0"
|
| 298 |
+
rpy="0 0 0" />
|
| 299 |
+
<geometry>
|
| 300 |
+
<mesh
|
| 301 |
+
filename="package://gripper_limit/meshes/Left_Link2.STL" />
|
| 302 |
+
</geometry>
|
| 303 |
+
<material
|
| 304 |
+
name="">
|
| 305 |
+
<color
|
| 306 |
+
rgba="1 1 1 1" />
|
| 307 |
+
</material>
|
| 308 |
+
</visual>
|
| 309 |
+
<collision>
|
| 310 |
+
<origin
|
| 311 |
+
xyz="0 0 0"
|
| 312 |
+
rpy="0 0 0" />
|
| 313 |
+
<geometry>
|
| 314 |
+
<mesh
|
| 315 |
+
filename="package://gripper_limit/meshes/Left_Link2.STL" />
|
| 316 |
+
</geometry>
|
| 317 |
+
</collision>
|
| 318 |
+
</link>
|
| 319 |
+
<joint
|
| 320 |
+
name="Left_joint2"
|
| 321 |
+
type="prismatic">
|
| 322 |
+
<origin
|
| 323 |
+
xyz="0.020188 0 -0.089594"
|
| 324 |
+
rpy="0 0 0" />
|
| 325 |
+
<parent
|
| 326 |
+
link="center_Link" />
|
| 327 |
+
<child
|
| 328 |
+
link="Left_Link2" />
|
| 329 |
+
<axis
|
| 330 |
+
xyz="0 0 1" />
|
| 331 |
+
<limit
|
| 332 |
+
lower="-3.14"
|
| 333 |
+
upper="3.14"
|
| 334 |
+
effort="100"
|
| 335 |
+
velocity="1" />
|
| 336 |
+
</joint>
|
| 337 |
+
<link
|
| 338 |
+
name="Rright_Link2">
|
| 339 |
+
<inertial>
|
| 340 |
+
<origin
|
| 341 |
+
xyz="0.0349979672550352 -1.67593751175072E-05 0.0221808688738466"
|
| 342 |
+
rpy="0 0 0" />
|
| 343 |
+
<mass
|
| 344 |
+
value="0.0670211950774007" />
|
| 345 |
+
<inertia
|
| 346 |
+
ixx="2.39707110958292E-05"
|
| 347 |
+
ixy="-3.4213247738782E-10"
|
| 348 |
+
ixz="-1.81031525736246E-05"
|
| 349 |
+
iyy="5.08303478550878E-05"
|
| 350 |
+
iyz="5.29682961492459E-10"
|
| 351 |
+
izz="4.55057387375739E-05" />
|
| 352 |
+
</inertial>
|
| 353 |
+
<visual>
|
| 354 |
+
<origin
|
| 355 |
+
xyz="0 0 0"
|
| 356 |
+
rpy="0 0 0" />
|
| 357 |
+
<geometry>
|
| 358 |
+
<mesh
|
| 359 |
+
filename="package://gripper_limit/meshes/Rright_Link2.STL" />
|
| 360 |
+
</geometry>
|
| 361 |
+
<material
|
| 362 |
+
name="">
|
| 363 |
+
<color
|
| 364 |
+
rgba="1 1 1 1" />
|
| 365 |
+
</material>
|
| 366 |
+
</visual>
|
| 367 |
+
<collision>
|
| 368 |
+
<origin
|
| 369 |
+
xyz="0 0 0"
|
| 370 |
+
rpy="0 0 0" />
|
| 371 |
+
<geometry>
|
| 372 |
+
<mesh
|
| 373 |
+
filename="package://gripper_limit/meshes/Rright_Link2.STL" />
|
| 374 |
+
</geometry>
|
| 375 |
+
</collision>
|
| 376 |
+
</link>
|
| 377 |
+
<joint
|
| 378 |
+
name="Rright_Joint2"
|
| 379 |
+
type="prismatic">
|
| 380 |
+
<origin
|
| 381 |
+
xyz="0.020188 0 0.089594"
|
| 382 |
+
rpy="-3.1416 0 0" />
|
| 383 |
+
<parent
|
| 384 |
+
link="center_Link" />
|
| 385 |
+
<child
|
| 386 |
+
link="Rright_Link2" />
|
| 387 |
+
<axis
|
| 388 |
+
xyz="0 0 1" />
|
| 389 |
+
<limit
|
| 390 |
+
lower="-3.14"
|
| 391 |
+
upper="3.14"
|
| 392 |
+
effort="100"
|
| 393 |
+
velocity="1" />
|
| 394 |
+
</joint>
|
| 395 |
+
</robot>
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/CMakeLists.txt
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
cmake_minimum_required(VERSION 2.8.3)
|
| 2 |
+
|
| 3 |
+
project(piper_description)
|
| 4 |
+
|
| 5 |
+
find_package(catkin REQUIRED)
|
| 6 |
+
|
| 7 |
+
catkin_package()
|
| 8 |
+
|
| 9 |
+
find_package(roslaunch)
|
| 10 |
+
|
| 11 |
+
foreach(dir config launch meshes urdf)
|
| 12 |
+
install(DIRECTORY ${dir}/
|
| 13 |
+
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
|
| 14 |
+
endforeach(dir)
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/meshes/Center_rotate_Link.STL
ADDED
|
Binary file (72.7 kB). View file
|
|
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/meshes/base_link.dae
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/meshes/link1.dae
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/meshes/link3.dae
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/meshes/link4.dae
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/meshes/link5.dae
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/meshes/link6.dae
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/meshes/link7.STL
ADDED
|
Binary file (92 kB). View file
|
|
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/meshes/link7.dae
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/meshes/link8.dae
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika/piper_description/package.xml
ADDED
|
@@ -0,0 +1,21 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<package format="2">
|
| 2 |
+
<name>piper_description</name>
|
| 3 |
+
<version>1.0.0</version>
|
| 4 |
+
<description>
|
| 5 |
+
<p>URDF Description package for piper_description</p>
|
| 6 |
+
<p>This package contains configuration data, 3D models and launch files
|
| 7 |
+
for piper_description robot</p>
|
| 8 |
+
</description>
|
| 9 |
+
<author>TODO</author>
|
| 10 |
+
<maintainer email="TODO@email.com" />
|
| 11 |
+
<license>BSD</license>
|
| 12 |
+
<buildtool_depend>catkin</buildtool_depend>
|
| 13 |
+
<depend>roslaunch</depend>
|
| 14 |
+
<depend>robot_state_publisher</depend>
|
| 15 |
+
<depend>rviz</depend>
|
| 16 |
+
<depend>joint_state_publisher_gui</depend>
|
| 17 |
+
<depend>gazebo</depend>
|
| 18 |
+
<export>
|
| 19 |
+
<architecture_independent />
|
| 20 |
+
</export>
|
| 21 |
+
</package>
|
embodiments/aloha-agilex-1-tactile/urdf/piper_with_pika_mplib.srdf
ADDED
|
@@ -0,0 +1,54 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="piper_with_pika">
|
| 3 |
+
<disable_collisions link1="center_Link" link2="Left_Link2" reason="Adjacent"/>
|
| 4 |
+
<disable_collisions link1="base_link" link2="link1" reason="Adjacent"/>
|
| 5 |
+
<disable_collisions link1="base_link1" link2="center_Link" reason="Adjacent"/>
|
| 6 |
+
<disable_collisions link1="link6" link2="base_link1" reason="Adjacent"/>
|
| 7 |
+
<disable_collisions link1="world" link2="base_link" reason="Adjacent"/>
|
| 8 |
+
<disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
|
| 9 |
+
<disable_collisions link1="link6" link2="center_Link" reason="Adjacent"/>
|
| 10 |
+
<disable_collisions link1="world" link2="link1" reason="Adjacent"/>
|
| 11 |
+
<disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
|
| 12 |
+
<disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
|
| 13 |
+
<disable_collisions link1="link5" link2="base_link1" reason="Adjacent"/>
|
| 14 |
+
<disable_collisions link1="base_link1" link2="Rright_Link2" reason="Adjacent"/>
|
| 15 |
+
<disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
|
| 16 |
+
<disable_collisions link1="center_Link" link2="Rright_Link2" reason="Adjacent"/>
|
| 17 |
+
<disable_collisions link1="base_link1" link2="Left_Link2" reason="Adjacent"/>
|
| 18 |
+
<disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
|
| 19 |
+
<disable_collisions link1="world" link2="link2" reason="Never"/>
|
| 20 |
+
<disable_collisions link1="world" link2="link3" reason="Never"/>
|
| 21 |
+
<disable_collisions link1="world" link2="link4" reason="Never"/>
|
| 22 |
+
<disable_collisions link1="world" link2="link5" reason="Never"/>
|
| 23 |
+
<disable_collisions link1="world" link2="link6" reason="Never"/>
|
| 24 |
+
<disable_collisions link1="world" link2="base_link1" reason="Never"/>
|
| 25 |
+
<disable_collisions link1="world" link2="center_Link" reason="Never"/>
|
| 26 |
+
<disable_collisions link1="world" link2="Left_Link2" reason="Never"/>
|
| 27 |
+
<disable_collisions link1="world" link2="Rright_Link2" reason="Never"/>
|
| 28 |
+
<disable_collisions link1="base_link" link2="link2" reason="Never"/>
|
| 29 |
+
<disable_collisions link1="base_link" link2="link3" reason="Never"/>
|
| 30 |
+
<disable_collisions link1="link1" link2="link3" reason="Never"/>
|
| 31 |
+
<disable_collisions link1="link1" link2="center_Link" reason="Never"/>
|
| 32 |
+
<disable_collisions link1="link1" link2="Left_Link2" reason="Never"/>
|
| 33 |
+
<disable_collisions link1="link1" link2="Rright_Link2" reason="Never"/>
|
| 34 |
+
<disable_collisions link1="link2" link2="link4" reason="Never"/>
|
| 35 |
+
<disable_collisions link1="link2" link2="center_Link" reason="Never"/>
|
| 36 |
+
<disable_collisions link1="link2" link2="Left_Link2" reason="Never"/>
|
| 37 |
+
<disable_collisions link1="link2" link2="Rright_Link2" reason="Never"/>
|
| 38 |
+
<disable_collisions link1="link3" link2="link5" reason="Never"/>
|
| 39 |
+
<disable_collisions link1="link3" link2="link6" reason="Never"/>
|
| 40 |
+
<disable_collisions link1="link3" link2="base_link1" reason="Never"/>
|
| 41 |
+
<disable_collisions link1="link3" link2="center_Link" reason="Never"/>
|
| 42 |
+
<disable_collisions link1="link3" link2="Left_Link2" reason="Never"/>
|
| 43 |
+
<disable_collisions link1="link3" link2="Rright_Link2" reason="Never"/>
|
| 44 |
+
<disable_collisions link1="link4" link2="link6" reason="Never"/>
|
| 45 |
+
<disable_collisions link1="link4" link2="base_link1" reason="Never"/>
|
| 46 |
+
<disable_collisions link1="link4" link2="center_Link" reason="Never"/>
|
| 47 |
+
<disable_collisions link1="link4" link2="Left_Link2" reason="Never"/>
|
| 48 |
+
<disable_collisions link1="link4" link2="Rright_Link2" reason="Never"/>
|
| 49 |
+
<disable_collisions link1="link5" link2="center_Link" reason="Never"/>
|
| 50 |
+
<disable_collisions link1="link5" link2="Left_Link2" reason="Never"/>
|
| 51 |
+
<disable_collisions link1="link5" link2="Rright_Link2" reason="Never"/>
|
| 52 |
+
<disable_collisions link1="link6" link2="Left_Link2" reason="Never"/>
|
| 53 |
+
<disable_collisions link1="link6" link2="Rright_Link2" reason="Never"/>
|
| 54 |
+
</robot>
|
embodiments/ur5-robotic85-gripper/meshes/robotiq_85/collision/robotiq_85_finger_link.stl
ADDED
|
Binary file (95.9 kB). View file
|
|
|