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  1. embodiments/RM65B-EG24C2/DAE/Link_1.dae +0 -0
  2. embodiments/RM65B-EG24C2/DAE/Link_10.dae +181 -0
  3. embodiments/RM65B-EG24C2/DAE/Link_2.dae +0 -0
  4. embodiments/RM65B-EG24C2/DAE/Link_3.dae +0 -0
  5. embodiments/RM65B-EG24C2/DAE/Link_6.dae +0 -0
  6. embodiments/RM65B-EG24C2/DAE/Link_7.dae +181 -0
  7. embodiments/RM65B-EG24C2/DAE/base_link.dae +0 -0
  8. embodiments/RM65B-EG24C2/RM65B_EG24C2_description.urdf +484 -0
  9. embodiments/RM65B-EG24C2/RM65B_EG24C2_description_mplib.srdf +83 -0
  10. embodiments/RM65B-EG24C2/config.yml +49 -0
  11. embodiments/RM65B-EG24C2/meshes/Link_10.STL +0 -0
  12. embodiments/RM65B-EG24C2/meshes/Link_8.STL +0 -0
  13. embodiments/aloha-agilex-1-tactile/urdf/aloha_maniskill_sim/meshes/camera_base_link.STL +0 -0
  14. embodiments/aloha-agilex-1-tactile/urdf/aloha_maniskill_sim/meshes/camera_base_link.dae +92 -0
  15. embodiments/aloha-agilex-tactile/meshes/base_arm.STL +0 -0
  16. embodiments/aloha-agilex-tactile/meshes/box1_Link.STL +0 -0
  17. embodiments/aloha-agilex-tactile/meshes/caster.stl +0 -0
  18. embodiments/aloha-agilex-tactile/meshes/caster_L.stl +0 -0
  19. embodiments/aloha-agilex-tactile/meshes/castor.dae +0 -0
  20. embodiments/aloha-agilex-tactile/meshes/castor_joint.dae +0 -0
  21. embodiments/aloha-agilex-tactile/meshes/link7.STL +0 -0
  22. embodiments/aloha-agilex-tactile/meshes/link8.STL +0 -0
  23. embodiments/aloha-agilex-tactile/meshes/right_cam_link.dae +0 -0
  24. embodiments/aloha-agilex-tactile/meshes/tracer_wheel.dae +0 -0
  25. embodiments/aloha-agilex-tactile/srdf/arx5_description_isaac.srdf +401 -0
  26. embodiments/aloha-agilex-tactile/urdf/arx5_description_isaac.urdf +1901 -0
  27. embodiments/aloha-agilex-tactile/urdf/arx5_description_isaac_old.urdf +1680 -0
  28. embodiments/aloha-agilex-tactile/urdf/arx5_description_isaac_package_keyword_replaced.urdf +1640 -0
  29. embodiments/aloha-agilex-tactile/urdf/arx5_description_isaac_v1.urdf +1901 -0
  30. embodiments/aloha-agilex-tactile/urdf/arx5_description_isaac（复件）.urdf +1901 -0
  31. embodiments/aloha-agilex-tactile/urdf/piper_with_pika.urdf +405 -0
  32. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/big_limit/CMakeLists.txt +14 -0
  33. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/big_limit/config/joint_names_big_limit.yaml +1 -0
  34. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/big_limit/export.log +0 -0
  35. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/big_limit/launch/display.launch +20 -0
  36. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/big_limit/launch/gazebo.launch +20 -0
  37. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/big_limit/package.xml +21 -0
  38. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/gripper6/CMakeLists.txt +14 -0
  39. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/gripper6/config/joint_names_gripper6.yaml +1 -0
  40. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/gripper6/export.log +0 -0
  41. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/gripper6/launch/display.launch +20 -0
  42. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/gripper6/launch/gazebo.launch +20 -0
  43. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/gripper6/meshes/Center_rotate_Link.STL +0 -0
  44. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/gripper6/package.xml +21 -0
  45. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/gripper6/urdf/gripper6.csv +8 -0
  46. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/gripper6/urdf/gripper6.urdf +395 -0
  47. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/gripper_limit/config/joint_names_gripper_limit.yaml +1 -0
  48. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/gripper_limit/launch/display.launch +20 -0
  49. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/gripper_limit/launch/gazebo.launch +20 -0
  50. embodiments/aloha-agilex-tactile/urdf/piper_with_pika/gripper_limit/meshes/Center_rotate_Link.STL +0 -0
embodiments/RM65B-EG24C2/DAE/Link_1.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/RM65B-EG24C2/DAE/Link_10.dae ADDED
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+ Exporter! Originally created by Stephen Brawner (brawner@gmail.com) Commit Version: 1.6.0-1-g15f4949
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+ Build Version: 1.6.7594.29634 For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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+ <robot name="RM65B_EG24C2_description">
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+ <link name="base_link">
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+ <inertial>
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+ <origin xyz="-0.00043263 -3.2791E-05 0.059984" rpy="0 0 0" />
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+ <mass value="0.84048" />
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+ <inertia ixx="0.001724" ixy="2.4863E-06" ixz="-3.6767E-05" iyy="0.0017077" iyz="1.7187E-06"
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+ izz="0.00090401" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/base_link.dae" />
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+ </geometry>
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+ <material name="">
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+ <color rgba="0.75294 0.75294 0.75294 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/base_link.dae" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <link name="Link_1">
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+ <inertial>
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+ <origin xyz="1.4674E-07 0.021109 -0.025186" rpy="0 0 0" />
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+ <mass value="0.59356" />
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+ <inertia ixx="0.0012661" ixy="-1.2311E-08" ixz="-1.0059E-08" iyy="0.0011817" iyz="-0.00021122"
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+ izz="0.00056135" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_1.dae" />
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+ </geometry>
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+ <material name="">
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+ <color rgba="0.75294 0.75294 0.75294 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_1.dae" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint name="joint_1" type="revolute">
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+ <origin xyz="0 0 0.2405" rpy="0 0 0" />
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+ <parent link="base_link" />
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+ <child link="Link_1" />
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+ <axis xyz="0 0 1" />
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+ <limit lower="-3.106" upper="3.106" effort="60" velocity="3.14" />
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+ </joint>
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+ <link name="Link_2">
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+ <inertial>
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+ <origin xyz="0.15226 4.2499E-07 -0.0062026" rpy="0 0 0" />
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+ <mass value="0.86418" />
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+ <inertia ixx="0.00063253" ixy="-8.8019E-09" ixz="0.00042163" iyy="0.0020527" iyz="2.3805E-09"
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+ izz="0.0019528" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_2.dae" />
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+ </geometry>
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+ <material name="">
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+ <color rgba="0.75294 0.75294 0.75294 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_2.dae" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint name="joint_2" type="revolute">
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+ <origin xyz="0 0 0" rpy="1.5708 -1.5708 0" />
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+ <parent link="Link_1" />
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+ <child link="Link_2" />
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+ <axis xyz="0 0 1" />
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+ <limit lower="-2.269" upper="2.269" effort="60" velocity="3.14" />
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+ </joint>
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+ <link name="Link_3">
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+ <inertial>
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+ <origin xyz="4.8002E-06 -0.059593 0.010569" rpy="0 0 0" />
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+ <mass value="0.28965" />
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+ <inertia ixx="0.00063737" ixy="-5.9731E-08" ixz="-3.331E-08" iyy="0.00015649"
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+ iyz="-0.00014461" izz="0.00061418" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_3.dae" />
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+ </geometry>
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+ <material name="">
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+ <color rgba="0.75294 0.75294 0.75294 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_3.dae" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint name="joint_3" type="revolute">
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+ <origin xyz="0.256 0 0" rpy="0 0 1.5708" />
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+ <parent link="Link_2" />
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+ <child link="Link_3" />
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+ <axis xyz="0 0 1" />
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+ <limit lower="-2.356" upper="2.356" effort="30" velocity="3.14" />
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+ </joint>
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+ <link name="Link_4">
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+ <inertial>
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+ <origin xyz="2.1531E-06 -0.018042 -0.021539" rpy="0 0 0" />
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+ <mass value="0.23942" />
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+ <inertia ixx="0.00028594" ixy="2.854E-09" ixz="-1.9595E-09" iyy="0.00026273" iyz="4.4237E-05"
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+ izz="0.00011989" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_4.dae" />
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+ </geometry>
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+ <material name="">
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+ <color rgba="0.75294 0.75294 0.75294 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_4.dae" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint name="joint_4" type="revolute">
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+ <origin xyz="0 -0.21 0" rpy="1.5708 0 0" />
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+ <parent link="Link_3" />
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+ <child link="Link_4" />
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+ <axis xyz="0 0 1" />
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+ <limit lower="-3.106" upper="3.106" effort="10" velocity="3.14" />
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+ </joint>
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+ <link name="Link_5">
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+ <inertial>
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+ <origin xyz="4.5765E-06 -0.059382 0.0073678" rpy="0 0 0" />
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+ <mass value="0.21879" />
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+ <inertia ixx="0.00035053" ixy="-3.1704E-08" ixz="-1.7465E-08" iyy="0.00010492"
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+ iyz="-7.824E-05" izz="0.00033447" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_5.dae" />
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+ </geometry>
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+ <material name="">
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+ <color rgba="0.75294 0.75294 0.75294 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_5.dae" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint name="joint_5" type="revolute">
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+ <origin xyz="0 0 0" rpy="-1.5708 0 0" />
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+ <parent link="Link_4" />
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+ <child link="Link_5" />
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+ <axis xyz="0 0 1" />
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+ <limit lower="-2.234" upper="2.234" effort="10" velocity="3.14" />
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+ </joint>
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+ <link name="Link_6">
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+ <inertial>
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+ <origin xyz="0.00081643 1.3298E-05 -0.012705" rpy="0 0 0" />
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+ <mass value="0.065035" />
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+ <inertia ixx="2.1143E-05" ixy="-2.2878E-08" ixz="-2.5601E-08" iyy="1.811E-05"
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+ iyz="-1.0178E-08" izz="3.19E-05" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_6.dae" />
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+ </geometry>
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+ <material name="">
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+ <color rgba="0.75294 0.75294 0.75294 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_6.dae" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint name="joint_6" type="revolute">
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+ <origin xyz="0 -0.144 0" rpy="1.5708 0 0" />
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+ <parent link="Link_5" />
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+ <child link="Link_6" />
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+ <axis xyz="0 0 1" />
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+ <limit lower="-6.28" upper="6.28" effort="10" velocity="3.14" />
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+ </joint>
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+
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+ <!-- 夹爪部分 -->
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+ <link name="gripper_base_link">
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+ <inertial>
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+ <origin xyz="-6.7908E-06 -3.0546E-06 0.038387" rpy="0 0 0" />
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+ <mass value="0.07993" />
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+ <inertia ixx="6.2249E-05" ixy="-5.6831E-09" ixz="-4.5401E-09" iyy="5.235E-05"
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+ iyz="-2.0297E-08" izz="2.2082E-05" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/gripper_base_link.dae" />
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+ </geometry>
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+ <material name="">
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+ <color rgba="0.75294 0.75294 0.75294 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/gripper_base_link.dae" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint name="gripper_base_joint" type="fixed">
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+ <origin xyz="0 0 -0.001" rpy="0 0 0" />
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+ <parent link="camera_base_link" />
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+ <child link="gripper_base_link" />
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+ <axis xyz="0 0 0" />
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+ </joint>
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+ <link name="Link_7">
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+ <inertial>
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+ <origin xyz="0.009 -0.0087669 0.013992" rpy="0 0 0" />
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+ <mass value="0.0024292" />
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+ <inertia ixx="5.7398E-07" ixy="8.6673E-19" ixz="-1.3659E-18" iyy="5.1061E-07" iyz="2.508E-07"
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+ izz="2.6747E-07" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_7.dae" />
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+ </geometry>
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+ <material name="">
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+ <color rgba="0.75294 0.75294 0.75294 1" />
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+ </material>
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+ </visual>
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+ <!-- <collision>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_7.dae" />
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+ </geometry>
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+ </collision> -->
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+ </link>
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+ <joint name="gripper_joint" type="revolute">
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+ <origin xyz="-0.009 0.04 0.083" rpy="0 0 0" />
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+ <parent link="gripper_base_link" />
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+ <child link="Link_7" />
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+ <axis xyz="-1 0 0" />
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+ <limit lower="0" upper="0.82" effort="1" velocity="1" />
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+ </joint>
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+ <link name="Link_11">
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+ <inertial>
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+ <origin xyz="0.009 -0.011864 0.011367" rpy="0 0 0" />
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+ <mass value="0.0045068" />
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+ <inertia ixx="5.3203E-07" ixy="9.5605E-14" ixz="-5.8579E-14" iyy="5.1288E-07" iyz="9.4703E-08"
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+ izz="2.009E-07" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_11.dae" />
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+ </geometry>
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+ <material name="">
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+ <color rgba="0.75294 0.75294 0.75294 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_11.dae" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint name="joint_11" type="revolute">
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+ <origin xyz="0 -0.0223 0.035591" rpy="0 0 0" />
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+ <parent link="Link_7" />
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+ <child link="Link_11" />
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+ <axis xyz="1 0 0" />
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+ <limit lower="0" upper="0.82" effort="1" velocity="1" />
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+ <!-- <mimic joint="gripper_joint" multiplier="1" offset="0" /> -->
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+ </joint>
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+ <link name="Link_8">
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+ <inertial>
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+ <origin xyz="0.009 -0.0087435 0.013955" rpy="0 0 0" />
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+ <mass value="0.0038971" />
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+ <inertia ixx="6.2305E-07" ixy="1.0706E-18" ixz="-1.6842E-18" iyy="5.6941E-07" iyz="2.6891E-07"
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+ izz="3.0871E-07" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_8.dae" />
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+ </geometry>
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+ <material name="">
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+ <color rgba="0.75294 0.75294 0.75294 1" />
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+ </material>
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+ </visual>
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+ <!-- <collision>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_8.dae" />
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+ </geometry>
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+ </collision> -->
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+ </link>
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+ <joint name="joint_8" type="revolute">
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+ <origin xyz="-0.009 0.03 0.085" rpy="0 0 0" />
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+ <parent link="gripper_base_link" />
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+ <child link="Link_8" />
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+ <axis xyz="-1 0 0" />
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+ <limit lower="0" upper="0.82" effort="1" velocity="1" />
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+ <!-- <mimic joint="gripper_joint" multiplier="1" offset="0" /> -->
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+ </joint>
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+ <link name="Link_9">
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+ <inertial>
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+ <origin xyz="0.009 0.0087435 0.013955" rpy="0 0 0" />
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+ <mass value="0.0038971" />
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+ <inertia ixx="6.2305E-07" ixy="-1.0655E-18" ixz="-1.8021E-18" iyy="5.6941E-07"
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+ iyz="-2.6891E-07" izz="3.0871E-07" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_9.dae" />
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+ </geometry>
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+ <material name="">
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+ <color rgba="0.75294 0.75294 0.75294 1" />
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+ </material>
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+ </visual>
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+ <!-- <collision>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_9.dae" />
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+ </geometry>
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+ </collision> -->
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+ </link>
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+ <joint name="joint_9" type="revolute">
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+ <origin xyz="-0.009 -0.03 0.085" rpy="0 0 0" />
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+ <parent link="gripper_base_link" />
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+ <child link="Link_9" />
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+ <axis xyz="-1 0 0" />
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+ <limit lower="-0.82" upper="0" effort="1" velocity="1" />
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+ <!-- <mimic joint="gripper_joint" multiplier="-1" offset="0" /> -->
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+ </joint>
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+ <link name="Link_10">
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+ <inertial>
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+ <origin xyz="0.009 0.0087669 0.013992" rpy="0 0 0" />
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+ <mass value="0.0024292" />
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+ <inertia ixx="5.7398E-07" ixy="9.5542E-19" ixz="7.7727E-19" iyy="5.1061E-07" iyz="-2.508E-07"
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+ izz="2.6747E-07" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_10.dae" />
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+ </geometry>
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+ <material name="">
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+ <color rgba="0.75294 0.75294 0.75294 1" />
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+ </material>
377
+ </visual>
378
+ <!-- <collision>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_10.dae" />
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+ </geometry>
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+ </collision> -->
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+ </link>
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+ <joint name="joint_10" type="revolute">
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+ <origin xyz="-0.009 -0.04 0.083" rpy="0 0 0" />
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+ <parent link="gripper_base_link" />
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+ <child link="Link_10" />
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+ <axis xyz="-1 0 0" />
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+ <limit lower="-0.82" upper="0" effort="1" velocity="1" />
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+ <!-- <mimic joint="gripper_joint" multiplier="-1" offset="0" /> -->
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+ </joint>
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+ <link name="Link_12">
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+ <inertial>
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+ <origin xyz="0.006 0.011864 0.011367" rpy="0 0 0" />
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+ <mass value="0.0045068" />
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+ <inertia ixx="5.3203E-07" ixy="9.5605E-14" ixz="5.8578E-14" iyy="5.1288E-07" iyz="-9.4703E-08"
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+ izz="2.009E-07" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_12.dae" />
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+ </geometry>
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+ <material name="">
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+ <color rgba="0.75294 0.75294 0.75294 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/Link_12.dae" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint name="joint_12" type="revolute">
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+ <origin xyz="0.003 0.0223 0.035591" rpy="0 0 0" />
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+ <parent link="Link_10" />
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+ <child link="Link_12" />
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+ <axis xyz="-1 0 0" />
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+ <limit lower="0" upper="0.82" effort="1" velocity="1" />
422
+ <!-- <mimic joint="gripper_joint" multiplier="1" offset="0" /> -->
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+ </joint>
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+ <link name="camera_base_link">
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+ <inertial>
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+ <origin xyz="0.04582 -2.3076E-07 -0.005454" rpy="0 0 0" />
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+ <mass value="0.051307" />
428
+ <inertia ixx="1.5914E-05" ixy="4.818E-10" ixz="1.4306E-07" iyy="8.6532E-05" iyz="-1.6535E-11"
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+ izz="0.00010189" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/camera_base_link.dae" />
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+ </geometry>
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+ <material name="">
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+ <color rgba="1 1 1 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="DAE/camera_base_link.dae" />
444
+ </geometry>
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+ </collision>
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+ </link>
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+ <joint name="cam_arm_joint" type="fixed">
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <parent link="Link_6" />
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+ <child link="camera_base_link" />
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+ <axis xyz="-1 0 0" />
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+ <limit lower="0" upper="0.82" effort="1" velocity="1" />
453
+ </joint>
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+ <joint name="cam_plat_joint" type="fixed">
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+ <origin xyz="0.095 -0.003 0" rpy="-1.57 0 1.57" />
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+ <parent link="camera_base_link" />
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+ <child link="camera_link" />
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+ <axis xyz="-1 0 0" />
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+ <limit lower="0" upper="0.82" effort="1" velocity="1" />
460
+ </joint>
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+ <link name="camera_link">
462
+ <inertial>
463
+ <origin xyz="0.0016556 -0.01252 1.2156E-05" rpy="0 0 0" />
464
+ <mass value="0.049778" />
465
+ <inertia ixx="4.8577E-06" ixy="4.3442E-07" ixz="-6.2436E-10" iyy="3.075E-05" iyz="6.4645E-10"
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+ izz="3.0901E-05" />
467
+ </inertial>
468
+ <visual>
469
+ <origin xyz="0 0 0" rpy="0 0 0" />
470
+ <geometry>
471
+ <mesh filename="DAE/camera_link.dae" />
472
+ </geometry>
473
+ <material name="">
474
+ <color rgba="1 1 1 1" />
475
+ </material>
476
+ </visual>
477
+ <collision>
478
+ <origin xyz="0 0 0" rpy="0 0 0" />
479
+ <geometry>
480
+ <mesh filename="DAE/camera_link.dae" />
481
+ </geometry>
482
+ </collision>
483
+ </link>
484
+ </robot>
embodiments/RM65B-EG24C2/RM65B_EG24C2_description_mplib.srdf ADDED
@@ -0,0 +1,83 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" ?>
2
+ <robot name="RM65B_EG24C2_description">
3
+ <disable_collisions link1="base_link" link2="Link_1" reason="Adjacent"/>
4
+ <disable_collisions link1="Link_6" link2="camera_base_link" reason="Adjacent"/>
5
+ <disable_collisions link1="camera_base_link" link2="Link_10" reason="Adjacent"/>
6
+ <disable_collisions link1="camera_base_link" link2="camera_link" reason="Adjacent"/>
7
+ <disable_collisions link1="camera_base_link" link2="Link_9" reason="Adjacent"/>
8
+ <disable_collisions link1="Link_6" link2="camera_link" reason="Adjacent"/>
9
+ <disable_collisions link1="Link_1" link2="Link_2" reason="Adjacent"/>
10
+ <disable_collisions link1="Link_10" link2="Link_12" reason="Adjacent"/>
11
+ <disable_collisions link1="Link_4" link2="Link_5" reason="Adjacent"/>
12
+ <disable_collisions link1="camera_base_link" link2="gripper_base_link" reason="Adjacent"/>
13
+ <disable_collisions link1="gripper_base_link" link2="Link_7" reason="Adjacent"/>
14
+ <disable_collisions link1="gripper_base_link" link2="Link_8" reason="Adjacent"/>
15
+ <disable_collisions link1="Link_6" link2="gripper_base_link" reason="Adjacent"/>
16
+ <disable_collisions link1="Link_3" link2="Link_4" reason="Adjacent"/>
17
+ <disable_collisions link1="Link_2" link2="Link_3" reason="Adjacent"/>
18
+ <disable_collisions link1="gripper_base_link" link2="Link_10" reason="Adjacent"/>
19
+ <disable_collisions link1="gripper_base_link" link2="Link_9" reason="Adjacent"/>
20
+ <disable_collisions link1="Link_7" link2="Link_11" reason="Adjacent"/>
21
+ <disable_collisions link1="Link_5" link2="Link_6" reason="Adjacent"/>
22
+ <disable_collisions link1="camera_base_link" link2="Link_7" reason="Adjacent"/>
23
+ <disable_collisions link1="camera_base_link" link2="Link_8" reason="Adjacent"/>
24
+ <disable_collisions link1="Link_11" link2="Link_12" reason="Default"/>
25
+ <disable_collisions link1="base_link" link2="Link_2" reason="Never"/>
26
+ <disable_collisions link1="base_link" link2="Link_3" reason="Never"/>
27
+ <disable_collisions link1="Link_1" link2="Link_3" reason="Never"/>
28
+ <disable_collisions link1="Link_1" link2="Link_4" reason="Never"/>
29
+ <disable_collisions link1="Link_2" link2="Link_4" reason="Never"/>
30
+ <disable_collisions link1="Link_3" link2="Link_5" reason="Never"/>
31
+ <disable_collisions link1="Link_3" link2="Link_6" reason="Never"/>
32
+ <disable_collisions link1="Link_3" link2="camera_base_link" reason="Never"/>
33
+ <disable_collisions link1="Link_3" link2="camera_link" reason="Never"/>
34
+ <disable_collisions link1="Link_3" link2="gripper_base_link" reason="Never"/>
35
+ <disable_collisions link1="Link_3" link2="Link_7" reason="Never"/>
36
+ <disable_collisions link1="Link_3" link2="Link_11" reason="Never"/>
37
+ <disable_collisions link1="Link_3" link2="Link_10" reason="Never"/>
38
+ <disable_collisions link1="Link_3" link2="Link_12" reason="Never"/>
39
+ <disable_collisions link1="Link_3" link2="Link_8" reason="Never"/>
40
+ <disable_collisions link1="Link_3" link2="Link_9" reason="Never"/>
41
+ <disable_collisions link1="Link_4" link2="Link_6" reason="Never"/>
42
+ <disable_collisions link1="Link_4" link2="camera_base_link" reason="Never"/>
43
+ <disable_collisions link1="Link_4" link2="camera_link" reason="Never"/>
44
+ <disable_collisions link1="Link_4" link2="gripper_base_link" reason="Never"/>
45
+ <disable_collisions link1="Link_4" link2="Link_7" reason="Never"/>
46
+ <disable_collisions link1="Link_4" link2="Link_11" reason="Never"/>
47
+ <disable_collisions link1="Link_4" link2="Link_10" reason="Never"/>
48
+ <disable_collisions link1="Link_4" link2="Link_12" reason="Never"/>
49
+ <disable_collisions link1="Link_4" link2="Link_8" reason="Never"/>
50
+ <disable_collisions link1="Link_4" link2="Link_9" reason="Never"/>
51
+ <disable_collisions link1="Link_5" link2="camera_base_link" reason="Never"/>
52
+ <disable_collisions link1="Link_5" link2="camera_link" reason="Never"/>
53
+ <disable_collisions link1="Link_5" link2="gripper_base_link" reason="Never"/>
54
+ <disable_collisions link1="Link_5" link2="Link_7" reason="Never"/>
55
+ <disable_collisions link1="Link_5" link2="Link_11" reason="Never"/>
56
+ <disable_collisions link1="Link_5" link2="Link_10" reason="Never"/>
57
+ <disable_collisions link1="Link_5" link2="Link_12" reason="Never"/>
58
+ <disable_collisions link1="Link_5" link2="Link_8" reason="Never"/>
59
+ <disable_collisions link1="Link_5" link2="Link_9" reason="Never"/>
60
+ <disable_collisions link1="Link_6" link2="Link_7" reason="Never"/>
61
+ <disable_collisions link1="Link_6" link2="Link_11" reason="Never"/>
62
+ <disable_collisions link1="Link_6" link2="Link_10" reason="Never"/>
63
+ <disable_collisions link1="Link_6" link2="Link_12" reason="Never"/>
64
+ <disable_collisions link1="Link_6" link2="Link_8" reason="Never"/>
65
+ <disable_collisions link1="Link_6" link2="Link_9" reason="Never"/>
66
+ <disable_collisions link1="camera_base_link" link2="Link_11" reason="Never"/>
67
+ <disable_collisions link1="camera_base_link" link2="Link_12" reason="Never"/>
68
+ <disable_collisions link1="camera_link" link2="gripper_base_link" reason="Never"/>
69
+ <disable_collisions link1="camera_link" link2="Link_7" reason="Never"/>
70
+ <disable_collisions link1="camera_link" link2="Link_11" reason="Never"/>
71
+ <disable_collisions link1="camera_link" link2="Link_10" reason="Never"/>
72
+ <disable_collisions link1="camera_link" link2="Link_12" reason="Never"/>
73
+ <disable_collisions link1="camera_link" link2="Link_8" reason="Never"/>
74
+ <disable_collisions link1="camera_link" link2="Link_9" reason="Never"/>
75
+ <disable_collisions link1="gripper_base_link" link2="Link_11" reason="Never"/>
76
+ <disable_collisions link1="gripper_base_link" link2="Link_12" reason="Never"/>
77
+ <disable_collisions link1="Link_7" link2="Link_10" reason="Never"/>
78
+ <disable_collisions link1="Link_7" link2="Link_12" reason="Never"/>
79
+ <disable_collisions link1="Link_7" link2="Link_9" reason="Never"/>
80
+ <disable_collisions link1="Link_11" link2="Link_10" reason="Never"/>
81
+ <disable_collisions link1="Link_10" link2="Link_8" reason="Never"/>
82
+ <disable_collisions link1="Link_8" link2="Link_9" reason="Never"/>
83
+ </robot>
embodiments/RM65B-EG24C2/config.yml ADDED
@@ -0,0 +1,49 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ urdf_path: "./RM65B_EG24C2_description.urdf"
2
+ srdf_path: "./RM65B_EG24C2_description_mplib.srdf"
3
+ joint_stiffness: 1000
4
+ joint_damping: 200
5
+ gripper_stiffnes: 1000
6
+ gripper_damping: 200
7
+ move_group: ["gripper_base_link", "gripper_base_link"]
8
+ ee_joints: ["gripper_base_joint", "gripper_base_joint"]
9
+ arm_joints_name: [["joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"], ["joint_1", "joint_2", "joint_3", "joint_4", "joint_5", "joint_6"]]
10
+ # gripper_name: [["gripper_joint", "gripper_joint"], ["gripper_joint", "gripper_joint"]]
11
+ gripper_name:
12
+ - base: "gripper_joint"
13
+ mimic: [
14
+ ["joint_11", 1., 0.],
15
+ ["joint_8" , 1., 0.],
16
+ ["joint_9" ,-1., 0.],
17
+ ["joint_10",-1., 0.],
18
+ ["joint_12", 1., 0.]
19
+ ]
20
+ - base: "gripper_joint"
21
+ mimic: [
22
+ ["joint_11", 1., 0.],
23
+ ["joint_8" , 1., 0.],
24
+ ["joint_9" ,-1., 0.],
25
+ ["joint_10",-1., 0.],
26
+ ["joint_12", 1., 0.]
27
+ ]
28
+ gripper_bias: 0.12 # bias
29
+ gripper_scale: [0, 0.85]
30
+ homestate: [[0, -1.57, 1.62, 0, 1.50, -3.21], [0, -1.57, 1.62, 0, 1.50, -3.21]]
31
+ delta_matrix: [[0, 0, 1], [0, -1, 0], [1, 0, 0]]
32
+ global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]]
33
+ robot_pose: [0, -0.45, 0.85, 0.704, 0, 0, -0.710]
34
+ planner: "mplib_RRT" # "mplib_screw"
35
+ dual_arm: False
36
+ static_camera_list:
37
+ - name: head_camera
38
+ position:
39
+ - -0.032
40
+ - -0.45
41
+ - 1.35
42
+ forward:
43
+ - 0
44
+ - 0.6
45
+ - -0.8
46
+ left:
47
+ - -1
48
+ - 0
49
+ - 0
embodiments/RM65B-EG24C2/meshes/Link_10.STL ADDED
Binary file (30.3 kB). View file
 
embodiments/RM65B-EG24C2/meshes/Link_8.STL ADDED
Binary file (29.9 kB). View file
 
embodiments/aloha-agilex-1-tactile/urdf/aloha_maniskill_sim/meshes/camera_base_link.STL ADDED
Binary file (63.4 kB). View file
 
embodiments/aloha-agilex-1-tactile/urdf/aloha_maniskill_sim/meshes/camera_base_link.dae ADDED
@@ -0,0 +1,92 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" encoding="utf-8"?>
2
+ <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
3
+ <asset>
4
+ <contributor>
5
+ <author>Blender User</author>
6
+ <authoring_tool>Blender 4.2.0 commit date:2024-07-16, commit time:06:20, hash:a51f293548ad</authoring_tool>
7
+ </contributor>
8
+ <created>2024-07-25T15:46:03</created>
9
+ <modified>2024-07-25T15:46:03</modified>
10
+ <unit name="meter" meter="1"/>
11
+ <up_axis>Z_UP</up_axis>
12
+ </asset>
13
+ <library_effects>
14
+ <effect id="粗糙不锈钢__1-effect">
15
+ <profile_COMMON>
16
+ <technique sid="common">
17
+ <lambert>
18
+ <emission>
19
+ <color sid="emission">0 0 0 1</color>
20
+ </emission>
21
+ <diffuse>
22
+ <color sid="diffuse">0.7225 0.70574 0.693889 1</color>
23
+ </diffuse>
24
+ <reflectivity>
25
+ <float sid="specular">1</float>
26
+ </reflectivity>
27
+ <index_of_refraction>
28
+ <float sid="ior">1.5</float>
29
+ </index_of_refraction>
30
+ </lambert>
31
+ </technique>
32
+ </profile_COMMON>
33
+ </effect>
34
+ </library_effects>
35
+ <library_images/>
36
+ <library_materials>
37
+ <material id="粗糙不锈钢__1-material" name="粗糙不锈钢 #1">
38
+ <instance_effect url="#粗糙不锈钢__1-effect"/>
39
+ </material>
40
+ </library_materials>
41
+ <library_geometries>
42
+ <geometry id="camera_base_link-mesh" name="camera_base_link">
43
+ <mesh>
44
+ <source id="camera_base_link-mesh-positions">
45
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306 306 441 441 298 298 428 428 296 296 296 296 428 428 286 286 296 296 286 286 294 294 294 294 286 286 288 288 294 294 288 288 290 290 444 444 445 445 392 392 392 392 445 445 394 394 446 446 447 447 368 368 368 368 447 447 367 367 420 420 422 422 448 448 448 448 422 422 449 449 450 450 451 451 452 452 451 451 453 453 452 452 452 452 453 453 307 307 452 452 307 307 454 454 295 295 455 455 297 297 297 297 455 455 293 293 307 307 305 305 454 454 454 454 305 305 303 303 454 454 303 303 301 301 287 287 456 456 289 289 289 289 456 456 454 454 289 289 454 454 291 291 291 291 454 454 301 301 291 291 301 301 293 293 293 293 301 301 299 299 293 293 299 299 297 297 287 287 285 285 456 456 456 456 285 285 283 283 456 456 283 283 457 457 457 457 283 283 281 281 281 281 458 458 457 457 457 457 458 458 459 459 457 457 459 459 460 460 450 450 452 452 461 461 461 461 452 452 457 457 461 461 457 457 462 462 462 462 457 457 460 460 462 462 460 460 295 295 295 295 460 460 463 463 295 295 463 463 455 455 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465 465 465 465 481 481 482 482 465 465 482 482 483 483 475 475 358 358 359 359 454 454 443 443 452 452 452 452 443 443 439 439 452 452 439 439 484 484 358 358 475 475 446 446 446 446 475 475 465 465 446 446 465 465 447 447 447 447 465 465 483 483 447 447 483 483 485 485 449 449 486 486 454 454 454 454 486 486 487 487 454 454 487 487 480 480 359 359 488 488 475 475 475 475 488 488 489 489 475 475 489 489 478 478 484 484 490 490 452 452 452 452 490 490 491 491 452 452 491 491 445 445 271 271 492 492 273 273 273 273 492 492 493 493 273 273 493 493 275 275 275 275 493 493 277 277 279 279 494 494 495 495 495 495 494 494 496 496 495 495 496 496 497 497 498 498 499 499 500 500 500 500 499 499 501 501 500 500 501 501 502 502 502 502 501 501 503 503 504 504 505 505 496 496 496 496 505 505 502 502 506 506 507 507 493 493 493 493 507 507 494 494 493 493 494 494 277 277 277 277 494 494 279 279 271 271 269 269 492 492 492 492 269 269 267 267 492 492 267 267 508 508 503 503 509 509 502 502 502 502 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499 499 362 362 362 362 499 499 498 498 362 362 498 498 252 252 252 252 498 498 253 253 428 428 545 545 546 546 547 547 548 548 544 544 546 546 549 549 428 428 428 428 549 549 550 550 428 428 550 550 429 429 542 542 547 547 551 551 551 551 547 547 544 544 551 551 544 544 546 546 546 546 544 544 543 543 546 546 543 543 549 549 385 385 514 514 513 513 385 385 513 513 398 398 398 398 513 513 512 512 398 398 512 512 397 397 397 397 512 512 500 500 397 397 500 500 395 395 407 407 518 518 517 517 407 407 517 517 408 408 408 408 517 517 516 516 408 408 516 516 409 409 409 409 516 516 515 515 409 409 515 515 410 410 525 525 544 544 548 548 525 525 548 548 531 531 531 531 548 548 547 547 531 531 547 547 530 530 530 530 547 547 542 542 530 530 542 542 529 529 528 528 413 413 427 427 528 528 427 427 526 526 526 526 427 427 426 426 526 526 426 426 527 527 527 527 426 426 425 425 527 527 425 425 492 492 552 552 553 553 480 480 480 480 553 553 554 554 480 480 554 554 443 443 555 555 556 556 557 557 557 557 558 558 555 555 555 555 558 558 559 559 555 555 559 559 560 560 555 555 561 561 556 556 556 556 561 561 562 562 556 556 562 562 480 480 480 480 562 562 563 563 480 480 563 563 552 552 417 417 542 542 564 564 564 564 542 542 555 555 564 564 555 555 565 565 565 565 555 555 560 560 564 564 416 416 417 417 551 551 555 555 542 542 448 448 479 479 566 566 566 566 479 479 567 567 568 568 569 569 479 479 479 479 569 569 570 570 479 479 570 570 567 567 342 342 423 423 571 571 571 571 423 423 572 572 571 571 572 572 573 573 573 573 572 572 574 574 573 573 574 574 575 575 575 575 574 574 568 568 575 575 568 568 576 576 576 576 568 568 479 479 571 571 350 350 342 342 421 421 572 572 423 423 577 577 578 578 439 439 439 439 578 578 579 579 439 439 579 579 484 484 580 580 581 581 582 582 582 582 583 583 580 580 580 580 583 583 584 584 580 580 584 584 585 585 580 580 586 586 581 581 581 581 586 586 587 587 581 581 587 587 439 439 439 439 587 587 588 588 439 439 588 588 577 577 410 410 387 387 589 589 589 589 387 387 580 580 589 589 580 580 590 590 590 590 580 580 585 585 388 388 580 580 387 387 589 589 406 406 410 410 591 591 481 481 444 444 591 591 444 444 592 592 592 592 444 444 593 593 592 592 593 593 594 594 595 595 596 596 361 361 594 594 593 593 597 597 597 597 593 593 598 598 597 597 598 598 361 361 361 361 598 598 599 599 361 361 599 599 595 595 596 596 600 600 361 361 361 361 600 600 601 601 361 361 601 601 393 393 360 360 597 597 361 361 601 601 391 391 393 393 482 482 379 379 364 364 482 482 364 364 483 483 483 483 364 364 363 363 483 483 363 363 485 485 485 485 363 363 367 367 485 485 367 367 447 447 359 359 356 356 345 345 359 359 345 345 488 488 488 488 345 345 344 344 488 488 344 344 489 489 489 489 344 344 343 343 489 489 343 343 478 478 484 484 382 382 386 386 484 484 386 386 490 490 490 490 386 386 396 396 490 490 396 396 491 491 491 491 396 396 394 394 491 491 394 394 445 445 449 449 422 422 424 424 449 449 424 424 486 486 486 486 424 424 412 412 486 486 412 412 487 487 487 487 412 412 411 411 487 487 411 411 480 480 343 343 352 352 478 478 478 478 352 352 576 576 478 478 576 576 479 479 350 350 571 571 351 351 351 351 571 571 573 573 351 351 573 573 352 352 352 352 573 573 575 575 352 352 575 575 576 576 569 569 568 568 418 418 418 418 568 568 574 574 418 418 574 574 419 419 419 419 574 574 572 572 419 419 572 572 421 421 570 570 569 569 602 602 567 567 570 570 566 566 566 566 570 570 602 602 566 566 602 602 448 448 569 569 418 418 602 602 602 602 418 418 420 420 602 602 420 420 448 448 560 560 559 559 558 558 558 558 557 557 556 556 480 480 411 411 415 415 556 556 480 480 558 558 558 558 480 480 415 415 558 558 415 415 560 560 560 560 415 415 414 414 416 416 564 564 414 414 414 414 564 564 565 565 414 414 565 565 560 560 563 563 562 562 545 545 545 545 562 562 561 561 545 545 561 561 546 546 546 546 561 561 555 555 546 546 555 555 551 551 552 552 563 563 603 603 553 553 552 552 554 554 554 554 552 552 603 603 554 554 603 603 443 443 563 563 545 545 603 603 603 603 545 545 428 428 603 603 428 428 443 443 399 399 433 433 400 400 400 400 433 433 522 522 400 400 522 522 402 402 402 402 522 522 521 521 402 402 521 521 403 403 403 403 521 521 519 519 434 434 429 429 520 520 520 520 429 429 550 550 520 520 550 550 523 523 523 523 550 550 549 549 523 523 549 549 524 524 524 524 549 549 543 543 585 585 584 584 583 583 583 583 582 582 581 581 439 439 401 401 404 404 581 581 439 439 583 583 583 583 439 439 404 404 583 583 404 404 585 585 585 585 404 404 405 405 406 406 589 589 405 405 405 405 589 589 590 590 405 405 590 590 585 585 588 588 587 587 383 383 383 383 587 587 586 586 383 383 586 586 384 384 384 384 586 586 580 580 384 384 580 580 388 388 577 577 588 588 604 604 578 578 577 577 579 579 579 579 577 577 604 604 579 579 604 604 484 484 588 588 383 383 604 604 604 604 383 383 382 382 604 604 382 382 484 484 596 596 595 595 599 599 599 599 598 598 593 593 444 444 392 392 390 390 593 593 444 444 599 599 599 599 444 444 390 390 599 599 390 390 596 596 596 596 390 390 389 389 391 391 601 601 389 389 389 389 601 601 600 600 389 389 600 600 596 596 597 597 360 360 381 381 597 597 381 381 594 594 594 594 381 381 380 380 594 594 380 380 592 592 482 482 481 481 591 591 592 592 380 380 591 591 591 591 380 380 379 379 591 591 379 379 482 482 494 494 347 347 337 337 494 494 337 337 496 496 496 496 337 337 370 370 496 496 370 370 376 376 605 605 365 365 370 370 339 339 606 606 337 337 607 607 358 358 446 446 608 608 609 609 446 446 446 446 609 609 610 610 446 446 610 610 607 607 608 608 446 446 611 611 611 611 446 446 612 612 611 611 612 612 606 606 612 612 613 613 606 606 606 606 613 613 614 614 606 606 614 614 615 615 370 370 337 337 605 605 605 605 337 337 606 606 605 605 606 606 616 616 616 616 606 606 615 615 315 315 313 313 311 311 537 537 321 321 319 319 540 540 539 539 541 541 541 541 539 539 315 315 541 541 315 315 309 309 309 309 315 315 311 311 539 539 538 538 315 315 315 315 538 538 537 537 315 315 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605</p>
71
+ </triangles>
72
+ </mesh>
73
+ </geometry>
74
+ </library_geometries>
75
+ <library_visual_scenes>
76
+ <visual_scene id="Scene" name="Scene">
77
+ <node id="camera_base_link" name="camera_base_link" type="NODE">
78
+ <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
79
+ <instance_geometry url="#camera_base_link-mesh" name="camera_base_link">
80
+ <bind_material>
81
+ <technique_common>
82
+ <instance_material symbol="粗糙不锈钢__1-material" target="#粗糙不锈钢__1-material"/>
83
+ </technique_common>
84
+ </bind_material>
85
+ </instance_geometry>
86
+ </node>
87
+ </visual_scene>
88
+ </library_visual_scenes>
89
+ <scene>
90
+ <instance_visual_scene url="#Scene"/>
91
+ </scene>
92
+ </COLLADA>
embodiments/aloha-agilex-tactile/meshes/base_arm.STL ADDED
Binary file (90.4 kB). View file
 
embodiments/aloha-agilex-tactile/meshes/box1_Link.STL ADDED
Binary file (71.6 kB). View file
 
embodiments/aloha-agilex-tactile/meshes/caster.stl ADDED
Binary file (50.1 kB). View file
 
embodiments/aloha-agilex-tactile/meshes/caster_L.stl ADDED
Binary file (9.48 kB). View file
 
embodiments/aloha-agilex-tactile/meshes/castor.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/aloha-agilex-tactile/meshes/castor_joint.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/aloha-agilex-tactile/meshes/link7.STL ADDED
Binary file (65.3 kB). View file
 
embodiments/aloha-agilex-tactile/meshes/link8.STL ADDED
Binary file (65.3 kB). View file
 
embodiments/aloha-agilex-tactile/meshes/right_cam_link.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/aloha-agilex-tactile/meshes/tracer_wheel.dae ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/aloha-agilex-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-tactile/urdf/arx5_description_isaac.urdf ADDED
@@ -0,0 +1,1901 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" encoding="utf-8" ?>
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+ <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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+ Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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+ For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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+ <robot name="arx5_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
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+ <!-- <link name="footprint"/> -->
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+
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+ <!-- <xacro:include filename="$(find tracer_description)/urdf/tracer_v1.xacro"/> -->
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+ <!-- <xacro:include filename="$(find realsense2_description)/urdf/_d435.xacro"/> -->
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+
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+ <link name="footprint">
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+ </link>
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+
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+ <!-- tracer base -->
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+ <link name="base_link">
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+ <visual>
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+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
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+ <!--<origin xyz="0 0 0" rpy="0 0 0"/>-->
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
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+ <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.dae" />
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+ <!--<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>-->
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <!--origin
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+ xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
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+ rpy="0 0 0" /-->
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+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.STL" /> -->
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+ <box size="0.35 0.1 0.35"/>
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+ </geometry>
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+ </collision>
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+ </link>
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+ <link name="inertial_link">
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+ <inertial>
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+ <!--mass value="44.3898489950015" /-->
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+ <mass value="132.3898489950015" />
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+ <!-- <mass value="50" /> -->
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+ <!-- <origin xyz="-0.00065 -0.085 0.062" />
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+ <inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
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+ <origin xyz="0.015 0.0231316650320557 0" />
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+ <!--<origin
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+ xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
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+ rpy="0 0 0" />-->
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+ <inertia ixx="0.185196122711036"
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+ ixy="4.30144213829512E-08"
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+ ixz="5.81037523686401E-08"
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+ iyy="0.364893736238929"
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+ iyz="-0.000386720198091934"
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+ izz="0.223868521722778" />
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+ <!--<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />-->
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+ </inertial>
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+ </link>
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+
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+ <joint name="inertial_joint" type="fixed">
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <parent link="base_link" />
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+ <child link="inertial_link" />
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+ </joint>
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+
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+ <link name="right_wheel_link">
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+ <inertial>
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+ <mass value="6" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="1.57 0 0" />
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
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+ <cylinder radius="0.05" length="0.05" />
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+ </geometry>
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+ </collision>
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+ </link>
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+
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+ <joint name="right_wheel" type="continuous">
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+ <parent link="base_link"/>
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+ <child link="right_wheel_link"/>
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+ <origin xyz="0 -0.17 -0.082" rpy="0 0 0" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
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+ <link name="left_wheel_link">
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+ <inertial>
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+ <mass value="6" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="1.57 0 0" />
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
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+ <cylinder radius="0.05" length="0.05" />
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+ </geometry>
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+ </collision>
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+ </link>
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+
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+ <joint name="left_wheel" type="continuous">
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+ <parent link="base_link"/>
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+ <child link="left_wheel_link"/>
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+ <origin xyz="0 0.17 -0.082" rpy="0 0 0" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+ <link name="fl_castor_link">
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
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+ </geometry>
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+ </visual>
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+ </link>
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+
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+ <joint name="fl_castor_wheel" type="continuous">
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+ <parent link="base_link" />
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+ <child link="fl_castor_link" />
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+ <origin xyz="0.19 0.17 -0.038" rpy="-1.57 0 0" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
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+ <link name="fr_castor_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
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+ </geometry>
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+ </visual>
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+ </link>
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+
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+ <joint name="fr_castor_wheel" type="continuous">
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+ <origin xyz="0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
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+ <parent link="base_link" />
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+ <child link="fr_castor_link" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
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+ <link name="rr_castor_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
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+ </geometry>
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+ </visual>
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+ </link>
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+
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+ <joint name="rr_castor_wheel" type="continuous">
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+ <origin xyz="-0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
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+ <parent link="base_link" />
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+ <child link="rr_castor_link" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
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+ <link name="rl_castor_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
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+ </geometry>
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+ </visual>
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+ </link>
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+
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+ <joint name="rl_castor_wheel" type="continuous">
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+ <origin xyz="-0.18955 0.17 -0.0380886" rpy="-1.57 0 0" />
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+ <parent link="base_link" />
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+ <child link="rl_castor_link" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
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+ <link name="fl_wheel_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
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+ <cylinder radius="0.025" length="0.025" />
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+ </geometry>
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+ </collision>
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+ </link>
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+
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+ <joint name="fl_wheel" type="continuous">
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+ <parent link="fl_castor_link"/>
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+ <child link="fl_wheel_link"/>
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+ <dynamics damping="0.0" friction="0.0"/>
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+ <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
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+ <axis xyz="0 0 1" rpy="0 0 0" />
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+ </joint>
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+
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+ <link name="fr_wheel_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />-->
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+ <cylinder radius="0.025" length="0.025" />
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+ </geometry>
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+ </collision>
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+ </link>
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+
256
+ <joint name="fr_wheel" type="continuous">
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+ <parent link="fr_castor_link"/>
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+ <child link="fr_wheel_link"/>
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+ <dynamics damping="0.0" friction="0.0"/>
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+ <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
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+ <axis xyz="0 0 1" rpy="0 0 0" />
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+ </joint>
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+
264
+ <link name="rr_wheel_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
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+ <!--<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />-->
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
282
+ <cylinder radius="0.025" length="0.025" />
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+ </geometry>
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+ </collision>
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+ </link>
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+
287
+ <joint name="rr_wheel" type="continuous">
288
+ <parent link="rr_castor_link"/>
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+ <child link="rr_wheel_link"/>
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+ <dynamics damping="0.0" friction="0.0"/>
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+ <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
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+ <axis xyz="0 0 1" rpy="0 0 0" />
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+ </joint>
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+
295
+ <link name="rl_wheel_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
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+ <cylinder radius="0.025" length="0.025" />
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+ </geometry>
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+ </collision>
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+ </link>
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+
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+ <joint name="rl_wheel" type="continuous">
318
+ <parent link="rl_castor_link"/>
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+ <child link="rl_wheel_link"/>
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+ <dynamics damping="0.0" friction="0.0"/>
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+ <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
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+ <axis xyz="0 0 1" rpy="0 0 0" />
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+ </joint>
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+
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+ <!-- aloha base -->
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+ <joint name="box_joint" type="fixed">
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+ <origin xyz="0 0 0.15" rpy="0 0 0" />
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+ <parent link="footprint" />
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+ <child link="base_link" />
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+ <axis xyz="0 0 0" />
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+ </joint>
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+ <link name="box1_Link">
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+ <inertial>
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+ <origin xyz="-0.17227 -0.0012276 0.023432" rpy="0 0 0" />
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+ <mass value="0.00014994" />
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+ <inertia ixx="0.012264" ixy="-9.2432E-06" ixz="0.0001761" iyy="0.0045226" iyz="-0.00063248" izz="0.016558" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/box1_Link.STL" />
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+ </geometry>
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+ <material name="">
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+ <color rgba="0.79216 0.81961 0.93333 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin xyz="0 0 0" rpy="-0.05 0 0" />
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/box1_Link.STL" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint name="box1" type="fixed">
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+ <origin xyz="0 0 0.15" rpy="0 0 0" />
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+ <parent link="footprint" />
357
+ <child link="box1_Link" />
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+ <axis xyz="0 0 0" />
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+ </joint>
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+ <link name="box2_Link">
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+ <inertial>
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+ <origin xyz="0.015107 -0.027922 0.00013672" rpy="0 0 0" />
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+ <mass value="3.736" />
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+ <inertia ixx="0.097545" ixy="-9.2609E-06" ixz="0.00015366" iyy="0.045841" iyz="-0.0020459" izz="0.084773" />
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+ </inertial>
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+ <origin xyz="0 0 0" rpy="0 0 3.141592653589323846" />
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/box2_Link.dae" />
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+ </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="transparent_material">
855
+ <color
856
+ rgba="1 1 1 0" />
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="transparent_material">
946
+ <color
947
+ rgba="1 1 1 0" />
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="transparent_material">
1312
+ <color
1313
+ rgba="1 1 1 0" />
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="transparent_material">
1401
+ <color
1402
+ rgba="1 1 1 0" />
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> -->
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+ </visual>
1796
+ <collision>
1797
+ <origin xyz="0 0 0" rpy="0 0 0" />
1798
+ <geometry>
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+ <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" />
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+ <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" />
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+ <inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" />
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+ </inertial>
1845
+ <visual>
1846
+ <origin xyz="0 0 0" rpy="0 0 0" />
1847
+ <geometry>
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+ <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>
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+ <origin xyz="-0.000327642774520215 -0.00482005374028087 -0.00167540868720402" rpy="0 0 0" />
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+ <mass value="0.0484016660227936" />
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+ <inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
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+ </inertial>
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+ <visual>
1875
+ <origin xyz="0 0 0" rpy="0 0 0" />
1876
+ <geometry>
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+ <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-tactile/urdf/arx5_description_isaac_old.urdf ADDED
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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)
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+ Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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+ For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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+ <robot name="arx5_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
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+ <!-- <link name="footprint"/> -->
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+
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+ <!-- <xacro:include filename="$(find tracer_description)/urdf/tracer_v1.xacro"/> -->
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+ <!-- <xacro:include filename="$(find realsense2_description)/urdf/_d435.xacro"/> -->
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+
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+ <link name="footprint">
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+ </link>
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+
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+ <!-- tracer base -->
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+ <link name="base_link">
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+ <visual>
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+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
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+ <!--<origin xyz="0 0 0" rpy="0 0 0"/>-->
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
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+ <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.dae" />
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+ <!--<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>-->
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <!--origin
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+ xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
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+ rpy="0 0 0" /-->
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+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.STL" /> -->
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+ <box size="0.35 0.1 0.35"/>
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+ </geometry>
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+ </collision>
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+ </link>
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+ <link name="inertial_link">
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+ <inertial>
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+ <!--mass value="44.3898489950015" /-->
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+ <mass value="132.3898489950015" />
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+ <!-- <mass value="50" /> -->
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+ <!-- <origin xyz="-0.00065 -0.085 0.062" />
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+ <inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
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+ <origin xyz="0.015 0.0231316650320557 0" />
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+ <!--<origin
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+ xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
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+ rpy="0 0 0" />-->
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+ <inertia ixx="0.185196122711036"
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+ ixy="4.30144213829512E-08"
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+ ixz="5.81037523686401E-08"
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+ iyy="0.364893736238929"
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+ iyz="-0.000386720198091934"
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+ izz="0.223868521722778" />
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+ <!--<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />-->
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+ </inertial>
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+ </link>
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+
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+ <joint name="inertial_joint" type="fixed">
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <parent link="base_link" />
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+ <child link="inertial_link" />
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+ </joint>
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+
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+ <link name="right_wheel_link">
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+ <inertial>
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+ <mass value="6" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="1.57 0 0" />
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
82
+ <cylinder radius="0.05" length="0.05" />
83
+ </geometry>
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+ </collision>
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+ </link>
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+
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+ <joint name="right_wheel" type="continuous">
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+ <parent link="base_link"/>
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+ <child link="right_wheel_link"/>
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+ <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">
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+ <inertial>
96
+ <mass value="6" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="1.57 0 0" />
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
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+ <cylinder radius="0.05" length="0.05" />
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+ </geometry>
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+ </collision>
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+ </link>
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+
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+ <joint name="left_wheel" type="continuous">
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+ <parent link="base_link"/>
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+ <child link="left_wheel_link"/>
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+ <origin xyz="0 0.17 -0.082" rpy="0 0 0" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
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+ <link name="fl_castor_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
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+ </geometry>
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+ </visual>
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+ </link>
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+
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+ <joint name="fl_castor_wheel" type="continuous">
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+ <parent link="base_link" />
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+ <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>
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+
144
+ <link name="fr_castor_link">
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+ <inertial>
146
+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
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+ </geometry>
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+ </visual>
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+ </link>
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+
157
+ <joint name="fr_castor_wheel" type="continuous">
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+ <origin xyz="0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
159
+ <parent link="base_link" />
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+ <child link="fr_castor_link" />
161
+ <axis xyz="0 1 0" rpy="0 0 0" />
162
+ </joint>
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+
164
+ <link name="rr_castor_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
173
+ </geometry>
174
+ </visual>
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+ </link>
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+
177
+ <joint name="rr_castor_wheel" type="continuous">
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+ <origin xyz="-0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
179
+ <parent link="base_link" />
180
+ <child link="rr_castor_link" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
182
+ </joint>
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+
184
+ <link name="rl_castor_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
193
+ </geometry>
194
+ </visual>
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+ </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" />
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+ <child link="rl_castor_link" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
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+ <link name="fl_wheel_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
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+ </inertial>
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+ <visual>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
221
+ <cylinder radius="0.025" length="0.025" />
222
+ </geometry>
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+ </collision>
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+ </link>
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+
226
+ <joint name="fl_wheel" type="continuous">
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+ <parent link="fl_castor_link"/>
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+ <child link="fl_wheel_link"/>
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+ <dynamics damping="0.0" friction="0.0"/>
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+ <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
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+ <axis xyz="0 0 1" rpy="0 0 0" />
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+ </joint>
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+
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+ <link name="fr_wheel_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
243
+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />-->
251
+ <cylinder radius="0.025" length="0.025" />
252
+ </geometry>
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+ </collision>
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+ </link>
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+
256
+ <joint name="fr_wheel" type="continuous">
257
+ <parent link="fr_castor_link"/>
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+ <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
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+ <!-- <material name="black">
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+ <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
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+ </material> -->
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1637
+ </geometry>
1638
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1639
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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" />
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+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
1646
+ </joint>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <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" />
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+ </material> -->
1661
+ </visual>
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+ <collision>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <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-tactile/urdf/arx5_description_isaac_package_keyword_replaced.urdf ADDED
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1
+ <?xml version="1.0" encoding="utf-8" ?>
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+ <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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+ Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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+ For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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+ <robot name="arx5_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
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+ <!-- <link name="footprint"/> -->
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+
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+ <!-- <xacro:include filename="$(find tracer_description)/urdf/tracer_v1.xacro"/> -->
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+ <!-- <xacro:include filename="$(find realsense2_description)/urdf/_d435.xacro"/> -->
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+
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+ <link name="footprint">
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+ </link>
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+
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+ <!-- tracer base -->
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+ <link name="base_link">
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+ <visual>
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+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
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+ <!--<origin xyz="0 0 0" rpy="0 0 0"/>-->
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
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+ <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.dae" />
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+ <!--<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>-->
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <!--origin
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+ xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
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+ rpy="0 0 0" /-->
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+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.STL" /> -->
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+ <box size="0.35 0.1 0.35"/>
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+ </geometry>
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+ </collision>
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+ </link>
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+ <link name="inertial_link">
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+ <inertial>
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+ <!--mass value="44.3898489950015" /-->
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+ <mass value="132.3898489950015" />
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+ <!-- <mass value="50" /> -->
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+ <!-- <origin xyz="-0.00065 -0.085 0.062" />
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+ <inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
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+ <origin xyz="0.015 0.0231316650320557 0" />
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+ <!--<origin
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+ xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
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+ rpy="0 0 0" />-->
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+ <inertia ixx="0.185196122711036"
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+ ixy="4.30144213829512E-08"
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+ ixz="5.81037523686401E-08"
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+ iyy="0.364893736238929"
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+ iyz="-0.000386720198091934"
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+ izz="0.223868521722778" />
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+ <!--<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />-->
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+ </inertial>
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+ </link>
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+
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+ <joint name="inertial_joint" type="fixed">
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <parent link="base_link" />
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+ <child link="inertial_link" />
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+ </joint>
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+
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+ <link name="right_wheel_link">
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+ <inertial>
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+ <mass value="6" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="1.57 0 0" />
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
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+ <cylinder radius="0.05" length="0.05" />
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+ </geometry>
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+ </collision>
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+ </link>
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+
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+ <joint name="right_wheel" type="continuous">
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+ <parent link="base_link"/>
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+ <child link="right_wheel_link"/>
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+ <origin xyz="0 -0.17 -0.082" rpy="0 0 0" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
94
+ <link name="left_wheel_link">
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+ <inertial>
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+ <mass value="6" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="1.57 0 0" />
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
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+ <cylinder radius="0.05" length="0.05" />
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+ </geometry>
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+ </collision>
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+ </link>
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+
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+ <joint name="left_wheel" type="continuous">
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+ <parent link="base_link"/>
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+ <child link="left_wheel_link"/>
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+ <origin xyz="0 0.17 -0.082" rpy="0 0 0" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
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+ <link name="fl_castor_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
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+ </geometry>
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+ </visual>
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+ </link>
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+
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+ <joint name="fl_castor_wheel" type="continuous">
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+ <parent link="base_link" />
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+ <child link="fl_castor_link" />
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+ <origin xyz="0.19 0.17 -0.038" rpy="-1.57 0 0" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
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+ <link name="fr_castor_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
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+ </geometry>
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+ </visual>
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+ </link>
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+
157
+ <joint name="fr_castor_wheel" type="continuous">
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+ <origin xyz="0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
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+ <parent link="base_link" />
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+ <child link="fr_castor_link" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
164
+ <link name="rr_castor_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
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+ </geometry>
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+ </visual>
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+ </link>
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+
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+ <joint name="rr_castor_wheel" type="continuous">
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+ <origin xyz="-0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
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+ <parent link="base_link" />
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+ <child link="rr_castor_link" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
184
+ <link name="rl_castor_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
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+ </geometry>
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+ </visual>
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+ </link>
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+
197
+ <joint name="rl_castor_wheel" type="continuous">
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+ <origin xyz="-0.18955 0.17 -0.0380886" rpy="-1.57 0 0" />
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+ <parent link="base_link" />
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+ <child link="rl_castor_link" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
204
+ <link name="fl_wheel_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
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+ </inertial>
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+ <visual>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
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+ <cylinder radius="0.025" length="0.025" />
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+ </geometry>
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+ </collision>
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+ </link>
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+
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+ <joint name="fl_wheel" type="continuous">
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+ <parent link="fl_castor_link"/>
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+ <child link="fl_wheel_link"/>
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+ <dynamics damping="0.0" friction="0.0"/>
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+ <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
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+ <axis xyz="0 0 1" rpy="0 0 0" />
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+ </joint>
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+
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+ <link name="fr_wheel_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
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+ </inertial>
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+ <visual>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />-->
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+ <cylinder radius="0.025" length="0.025" />
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+ </geometry>
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+ </collision>
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+ </link>
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+
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+ <joint name="fr_wheel" type="continuous">
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+ <parent link="fr_castor_link"/>
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+ <child link="fr_wheel_link"/>
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+ <dynamics damping="0.0" friction="0.0"/>
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+ <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
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+ <axis xyz="0 0 1" rpy="0 0 0" />
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+ </joint>
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+
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+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
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+ <!--<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />-->
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+ </inertial>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
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+ <cylinder radius="0.025" length="0.025" />
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+ </geometry>
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+ </link>
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+ <joint name="rr_wheel" type="continuous">
288
+ <parent link="rr_castor_link"/>
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+ <child link="rr_wheel_link"/>
290
+ <dynamics damping="0.0" friction="0.0"/>
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+ <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
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+ <axis xyz="0 0 1" rpy="0 0 0" />
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+ </joint>
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+ <link name="rl_wheel_link">
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
312
+ <cylinder radius="0.025" length="0.025" />
313
+ </geometry>
314
+ </collision>
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+ </link>
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+
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
+ <!--***************************** front-left ****************************** -->
519
+ <link name="fl_base_link">
520
+ <inertial>
521
+ <origin xyz="-2.9972E-05 3.056E-05 0.027301" rpy="0 0 0" />
522
+ <mass value="0.44038" />
523
+ <inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00018" iyz="0.00000" izz="0.00016" />
524
+ </inertial>
525
+ <visual>
526
+ <origin xyz="0 0 0" rpy="0 0 0" />
527
+ <geometry>
528
+ <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
529
+ </geometry>
530
+ <material name="">
531
+ <color rgba="0.75294 0.75294 0.75294 1" />
532
+ </material>
533
+ </visual>
534
+ <collision>
535
+ <origin xyz="0 0 0" rpy="0 0 0" />
536
+ <geometry>
537
+ <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
538
+ </geometry>
539
+ </collision>
540
+ </link>
541
+ <joint name="fl_base_joint" type="fixed">
542
+ <origin xyz="0.233 0.3 0.7775" rpy="0.0 0.0 0.0" />
543
+ <parent link="footprint" />
544
+ <child link="fl_base_link" />
545
+ <axis xyz="0.0 0.0 1.0" />
546
+ </joint>
547
+ <link name="fl_link1">
548
+ <inertial>
549
+ <origin xyz="0.00609525411893452 -0.00429681977500749 0.0179590247477389" rpy="0 0 0" />
550
+ <mass value="0.0608351104988555" />
551
+ <inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00007" />
552
+ </inertial>
553
+ <visual>
554
+ <origin xyz="0 0 0" rpy="0 0 0" />
555
+ <geometry>
556
+ <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
557
+ </geometry>
558
+ <material name="">
559
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
560
+ </material>
561
+ </visual>
562
+ <collision>
563
+ <origin xyz="0 0 0" rpy="0 0 0" />
564
+ <geometry>
565
+ <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
566
+ </geometry>
567
+ </collision>
568
+ </link>
569
+ <joint name="fl_joint1" type="revolute">
570
+ <origin xyz="0 0 0.0603" rpy="0 0 0" />
571
+ <parent link="fl_base_link" />
572
+ <child link="fl_link1" />
573
+ <axis xyz="0 0 1" />
574
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
575
+ </joint>
576
+ <link name="fl_link2">
577
+ <inertial>
578
+ <origin xyz="-0.132382037190567 0.00220380675553821 0.000111790164679923" rpy="0 0 0" />
579
+ <mass value="1.0733279014126" />
580
+ <inertia ixx="0.00050" ixy="0.00000" ixz="-0.00004" iyy="0.01596" iyz="0.00000" izz="0.01602" />
581
+ </inertial>
582
+ <visual>
583
+ <origin xyz="0 0 0" rpy="0 0 0" />
584
+ <geometry>
585
+ <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
586
+ </geometry>
587
+ <material name="">
588
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
589
+ </material>
590
+ </visual>
591
+ <collision>
592
+ <origin xyz="0 0 0" rpy="0 0 0" />
593
+ <geometry>
594
+ <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
595
+ </geometry>
596
+ </collision>
597
+ </link>
598
+ <joint name="fl_joint2" type="revolute">
599
+ <origin xyz="0.02 0 0.0402" rpy="0 0 0" />
600
+ <parent link="fl_link1" />
601
+ <child link="fl_link2" />
602
+ <axis xyz="0 1 0" />
603
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
604
+ </joint>
605
+ <link name="fl_link3">
606
+ <inertial>
607
+ <origin xyz="0.187203287369961 -0.000305676361444925 -0.0514832866415513" rpy="0 0 0" />
608
+ <mass value="0.499404738025019" />
609
+ <inertia ixx="0.00033" ixy="-0.00006" ixz="-0.00039" iyy="0.00387" iyz="0.00001" izz="0.00383" />
610
+ </inertial>
611
+ <visual>
612
+ <origin xyz="0 0 0" rpy="0 0 0" />
613
+ <geometry>
614
+ <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
615
+ </geometry>
616
+ <material name="">
617
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
618
+ </material>
619
+ </visual>
620
+ <collision>
621
+ <origin xyz="0 0 0" rpy="0 0 0" />
622
+ <geometry>
623
+ <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
624
+ </geometry>
625
+ </collision>
626
+ </link>
627
+ <joint name="fl_joint3" type="revolute">
628
+ <origin xyz="-0.264 0 0" rpy="-3.1416 0 0" />
629
+ <parent link="fl_link2" />
630
+ <child link="fl_link3" />
631
+ <axis xyz="0 1 0" />
632
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
633
+ </joint>
634
+ <link name="fl_link4">
635
+ <inertial>
636
+ <origin xyz="0.0388884702662706 0.00295168681334743 -0.0353282735009622" rpy="0 0 0" />
637
+ <mass value="0.0809712553169999" />
638
+ <inertia ixx="0.00013" ixy="-0.00001" ixz="-0.00006" iyy="0.00016" iyz="0.00001" izz="0.00010" />
639
+ </inertial>
640
+ <visual>
641
+ <origin xyz="0 0 0" rpy="0 0 0" />
642
+ <geometry>
643
+ <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
644
+ </geometry>
645
+ <material name="">
646
+ <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
647
+ </material>
648
+ </visual>
649
+ <collision>
650
+ <origin xyz="0 0 0" rpy="0 0 0" />
651
+ <geometry>
652
+ <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
653
+ </geometry>
654
+ </collision>
655
+ </link>
656
+ <joint name="fl_joint4" type="revolute">
657
+ <origin xyz="0.245 0 -0.056" rpy="0 0 0" />
658
+ <parent link="fl_link3" />
659
+ <child link="fl_link4" />
660
+ <axis xyz="0 1 0" />
661
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
662
+ </joint>
663
+ <link name="fl_link5">
664
+ <inertial>
665
+ <origin xyz="0.00289956909960302 3.15826689885766E-05 0.0526188859211408" rpy="0 0 0" />
666
+ <mass value="0.602357399313257" />
667
+ <inertia ixx="0.00072" ixy="0.00000" ixz="0.00005" iyy="0.00069" iyz="0.00000" izz="0.00021" />
668
+ </inertial>
669
+ <visual>
670
+ <origin xyz="0 0 0" rpy="0 0 0" />
671
+ <geometry>
672
+ <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
673
+ </geometry>
674
+ <material name="">
675
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
676
+ </material>
677
+ </visual>
678
+ <collision>
679
+ <origin xyz="0 0 0" rpy="0 0 0" />
680
+ <geometry>
681
+ <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
682
+ </geometry>
683
+ </collision>
684
+ </link>
685
+ <joint name="fl_joint5" type="revolute">
686
+ <origin xyz="0.06575 -0.001 -0.0825" rpy="0 0 0" />
687
+ <parent link="fl_link4" />
688
+ <child link="fl_link5" />
689
+ <axis xyz="0 0 1" />
690
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
691
+ </joint>
692
+ <link name="fl_link6">
693
+ <inertial>
694
+ <origin xyz="0.0471798400661976 0.000102970421835668 -0.000138510949393961" rpy="0 0 0" />
695
+ <mass value="0.462244960775882" />
696
+ <inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" />
697
+ </inertial>
698
+ <visual>
699
+ <origin xyz="0 0 0" rpy="0 0 0" />
700
+ <geometry>
701
+ <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
702
+ </geometry>
703
+ <material name="">
704
+ <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
705
+ </material>
706
+ </visual>
707
+ <collision>
708
+ <origin xyz="0 0 0" rpy="0 0 0" />
709
+ <geometry>
710
+ <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
711
+ </geometry>
712
+ </collision>
713
+ </link>
714
+ <joint name="fl_joint6" type="revolute">
715
+ <origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" />
716
+ <parent link="fl_link5" />
717
+ <child link="fl_link6" />
718
+ <axis xyz="1 0 0" />
719
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
720
+ </joint>
721
+ <!-- 相机的链接 -->
722
+ <link name="camera">
723
+ <visual>
724
+ <origin xyz="-0.01 0 0.05" rpy="2.1061 0 1.57"/>
725
+ <geometry>
726
+ <mesh filename="aloha_maniskill_sim/meshes/d435.dae" /> <!-- 根据D435相机的实际尺寸调整 -->
727
+ </geometry>
728
+ <material name="black">
729
+ <color rgba="0 0 0.1 1"/>
730
+ </material>
731
+ </visual>
732
+ <collision>
733
+ <origin xyz="0 0 0" rpy="0 0 0"/>
734
+ <geometry>
735
+ <box size="0.01 0.050 0.01"/> <!-- 根据D435相机的实际尺寸调整 -->
736
+ </geometry>
737
+ </collision>
738
+ <inertial>
739
+ <mass value="0.1"/> <!-- 相机的估计质量 -->
740
+ <origin xyz="0 0 0" rpy="0 0 0"/>
741
+ <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 -->
742
+ </inertial>
743
+ </link>
744
+
745
+ <!-- 连接相机和末端执行器的关节 -->
746
+ <joint name="camera_joint" type="fixed">
747
+ <parent link="fl_link6"/>
748
+ <child link="camera"/>
749
+ <origin xyz="0.05 0 0.025" rpy="0 0 0"/> <!-- 根据相机的安装位置调整 -->
750
+ </joint>
751
+
752
+
753
+ <!-- <joint name="fixed_camera" type="fixed">
754
+ <origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" />
755
+ <parent link="fl_link6" />
756
+ <child link="camera_link" />
757
+ <axis xyz="1 0 0" />
758
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
759
+ </joint> -->
760
+
761
+
762
+ <link name="fl_link7">
763
+ <inertial>
764
+ <origin xyz="-0.000327642774520215 -0.00482005374028087 -0.00167540868720402" rpy="0 0 0" />
765
+ <mass value="0.0484016660227936" />
766
+ <inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
767
+ </inertial>
768
+ <visual>
769
+ <origin xyz="0 0 0" rpy="0 0 0" />
770
+ <geometry>
771
+ <mesh filename="aloha_maniskill_sim/meshes/link7.STL" />
772
+ </geometry>
773
+ <material name="">
774
+ <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
775
+ </material>
776
+ </visual>
777
+ <collision>
778
+ <origin xyz="0 0 0" rpy="0 0 0" />
779
+ <geometry>
780
+ <mesh filename="aloha_maniskill_sim/meshes/link7.STL" />
781
+ </geometry>
782
+ </collision>
783
+ </link>
784
+ <joint name="fl_joint7" type="prismatic">
785
+ <origin xyz="0.073574 0.024629 0" rpy="0 0 0" />
786
+ <parent link="fl_link6" />
787
+ <child link="fl_link7" />
788
+ <axis xyz="0 1 0" />
789
+ <limit lower="0" upper="0.04765" effort="100" velocity="100" />
790
+ </joint>
791
+ <link name="fl_link8">
792
+ <inertial>
793
+ <origin xyz="-0.000327643744208572 0.00482005363510456 0.000752972893839382" rpy="0 0 0" />
794
+ <mass value="0.0484016646136083" />
795
+ <inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
796
+ </inertial>
797
+ <visual>
798
+ <origin xyz="0 0 0" rpy="0 0 0" />
799
+ <geometry>
800
+ <mesh filename="aloha_maniskill_sim/meshes/link8.STL" />
801
+ </geometry>
802
+ <material name="">
803
+ <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
804
+ </material>
805
+ </visual>
806
+ <collision>
807
+ <origin xyz="0 0 0" rpy="0 0 0" />
808
+ <geometry>
809
+ <mesh filename="aloha_maniskill_sim/meshes/link8.STL" />
810
+ </geometry>
811
+ </collision>
812
+ </link>
813
+ <joint name="fl_joint8" type="prismatic">
814
+ <origin xyz="0.073574 -0.024629 0" rpy="0 0 0" />
815
+ <parent link="fl_link6" />
816
+ <child link="fl_link8" />
817
+ <axis xyz="0 -1 0" />
818
+ <limit lower="0" upper="0.04765" effort="100" velocity="100" />
819
+ </joint>
820
+ <!--***************************** front-right ****************************** -->
821
+ <link name="fr_base_link">
822
+ <inertial>
823
+ <origin xyz="-2.9972E-05 3.056E-05 0.027301" rpy="0 0 0" />
824
+ <mass value="0.44038" />
825
+ <inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00018" iyz="0.00000" izz="0.00016" />
826
+ </inertial>
827
+ <visual>
828
+ <origin xyz="0 0 0" rpy="0 0 0" />
829
+ <geometry>
830
+ <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
831
+ </geometry>
832
+ <material name="">
833
+ <color rgba="0.75294 0.75294 0.75294 1" />
834
+ </material>
835
+ </visual>
836
+ <collision>
837
+ <origin xyz="0 0 0" rpy="0 0 0" />
838
+ <geometry>
839
+ <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
840
+ </geometry>
841
+ </collision>
842
+ </link>
843
+ <joint name="fr_base_joint" type="fixed">
844
+ <origin xyz="0.233 -0.307 0.7775" rpy="0.0 0.0 0.0" />
845
+ <parent link="footprint" />
846
+ <child link="fr_base_link" />
847
+ <axis xyz="0.0 0.0 1.0" />
848
+ </joint>
849
+ <link name="fr_link1">
850
+ <inertial>
851
+ <origin xyz="0.00609525411893452 -0.00429681977500749 0.0179590247477389" rpy="0 0 0" />
852
+ <mass value="0.0608351104988555" />
853
+ <inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00007" />
854
+ </inertial>
855
+ <visual>
856
+ <origin xyz="0 0 0" rpy="0 0 0" />
857
+ <geometry>
858
+ <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
859
+ </geometry>
860
+ <material name="">
861
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
862
+ </material>
863
+ </visual>
864
+ <collision>
865
+ <origin xyz="0 0 0" rpy="0 0 0" />
866
+ <geometry>
867
+ <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
868
+ </geometry>
869
+ </collision>
870
+ </link>
871
+ <joint name="fr_joint1" type="revolute">
872
+ <origin xyz="0 0 0.0603" rpy="0 0 0" />
873
+ <parent link="fr_base_link" />
874
+ <child link="fr_link1" />
875
+ <axis xyz="0 0 1" />
876
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
877
+ </joint>
878
+ <link name="fr_link2">
879
+ <inertial>
880
+ <origin xyz="-0.132382037190567 0.00220380675553821 0.000111790164679923" rpy="0 0 0" />
881
+ <mass value="1.0733279014126" />
882
+ <inertia ixx="0.00050" ixy="0.00000" ixz="-0.00004" iyy="0.01596" iyz="0.00000" izz="0.01602" />
883
+ </inertial>
884
+ <visual>
885
+ <origin xyz="0 0 0" rpy="0 0 0" />
886
+ <geometry>
887
+ <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
888
+ </geometry>
889
+ <material name="">
890
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
891
+ </material>
892
+ </visual>
893
+ <collision>
894
+ <origin xyz="0 0 0" rpy="0 0 0" />
895
+ <geometry>
896
+ <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
897
+ </geometry>
898
+ </collision>
899
+ </link>
900
+ <joint name="fr_joint2" type="revolute">
901
+ <origin xyz="0.02 0 0.0402" rpy="0 0 0" />
902
+ <parent link="fr_link1" />
903
+ <child link="fr_link2" />
904
+ <axis xyz="0 1 0" />
905
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
906
+ </joint>
907
+ <link name="fr_link3">
908
+ <inertial>
909
+ <origin xyz="0.187203287369961 -0.000305676361444925 -0.0514832866415513" rpy="0 0 0" />
910
+ <mass value="0.499404738025019" />
911
+ <inertia ixx="0.00033" ixy="-0.00006" ixz="-0.00039" iyy="0.00387" iyz="0.00001" izz="0.00383" />
912
+ </inertial>
913
+ <visual>
914
+ <origin xyz="0 0 0" rpy="0 0 0" />
915
+ <geometry>
916
+ <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
917
+ </geometry>
918
+ <material name="">
919
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
920
+ </material>
921
+ </visual>
922
+ <collision>
923
+ <origin xyz="0 0 0" rpy="0 0 0" />
924
+ <geometry>
925
+ <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
926
+ </geometry>
927
+ </collision>
928
+ </link>
929
+ <joint name="fr_joint3" type="revolute">
930
+ <origin xyz="-0.264 0 0" rpy="-3.1416 0 0" />
931
+ <parent link="fr_link2" />
932
+ <child link="fr_link3" />
933
+ <axis xyz="0 1 0" />
934
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
935
+ </joint>
936
+ <link name="fr_link4">
937
+ <inertial>
938
+ <origin xyz="0.0388884702662706 0.00295168681334743 -0.0353282735009622" rpy="0 0 0" />
939
+ <mass value="0.0809712553169999" />
940
+ <inertia ixx="0.00013" ixy="-0.00001" ixz="-0.00006" iyy="0.00016" iyz="0.00001" izz="0.00010" />
941
+ </inertial>
942
+ <visual>
943
+ <origin xyz="0 0 0" rpy="0 0 0" />
944
+ <geometry>
945
+ <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
946
+ </geometry>
947
+ <material name="">
948
+ <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
949
+ </material>
950
+ </visual>
951
+ <collision>
952
+ <origin xyz="0 0 0" rpy="0 0 0" />
953
+ <geometry>
954
+ <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
955
+ </geometry>
956
+ </collision>
957
+ </link>
958
+ <joint name="fr_joint4" type="revolute">
959
+ <origin xyz="0.245 0 -0.056" rpy="0 0 0" />
960
+ <parent link="fr_link3" />
961
+ <child link="fr_link4" />
962
+ <axis xyz="0 1 0" />
963
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
964
+ </joint>
965
+ <link name="fr_link5">
966
+ <inertial>
967
+ <origin xyz="0.00289956909960302 3.15826689885766E-05 0.0526188859211408" rpy="0 0 0" />
968
+ <mass value="0.602357399313257" />
969
+ <inertia ixx="0.00072" ixy="0.00000" ixz="0.00005" iyy="0.00069" iyz="0.00000" izz="0.00021" />
970
+ </inertial>
971
+ <visual>
972
+ <origin xyz="0 0 0" rpy="0 0 0" />
973
+ <geometry>
974
+ <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
975
+ </geometry>
976
+ <material name="">
977
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
978
+ </material>
979
+ </visual>
980
+ <collision>
981
+ <origin xyz="0 0 0" rpy="0 0 0" />
982
+ <geometry>
983
+ <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
984
+ </geometry>
985
+ </collision>
986
+ </link>
987
+ <joint name="fr_joint5" type="revolute">
988
+ <origin xyz="0.06575 -0.001 -0.0825" rpy="0 0 0" />
989
+ <parent link="fr_link4" />
990
+ <child link="fr_link5" />
991
+ <axis xyz="0 0 1" />
992
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
993
+ </joint>
994
+ <link name="fr_link6">
995
+ <inertial>
996
+ <origin xyz="0.0471798400661976 0.000102970421835668 -0.000138510949393961" rpy="0 0 0" />
997
+ <mass value="0.462244960775882" />
998
+ <inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" />
999
+ </inertial>
1000
+ <visual>
1001
+ <origin xyz="0 0 0" rpy="0 0 0" />
1002
+ <geometry>
1003
+ <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
1004
+ </geometry>
1005
+ <material name="">
1006
+ <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
1007
+ </material>
1008
+ </visual>
1009
+ <collision>
1010
+ <origin xyz="0 0 0" rpy="0 0 0" />
1011
+ <geometry>
1012
+ <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
1013
+ </geometry>
1014
+ </collision>
1015
+ </link>
1016
+ <joint name="fr_joint6" type="revolute">
1017
+ <origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" />
1018
+ <parent link="fr_link5" />
1019
+ <child link="fr_link6" />
1020
+ <axis xyz="1 0 0" />
1021
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
1022
+ </joint>
1023
+ <!-- 相机的链接 -->
1024
+ <link name="camera_right">
1025
+ <visual>
1026
+ <origin xyz="-0.01 0 0.05" rpy="2.1061 0 1.57"/>
1027
+ <geometry>
1028
+ <mesh filename="aloha_maniskill_sim/meshes/d435.dae" /> <!-- 根据D435相机的实际尺寸调整 -->
1029
+ </geometry>
1030
+ <!-- <material name="black">
1031
+ <color rgba="0 0 0.1 1"/>
1032
+ </material> -->
1033
+ </visual>
1034
+ <collision>
1035
+ <origin xyz="0 0 0" rpy="0 0 0"/>
1036
+ <geometry>
1037
+ <box size="0.01 0.050 0.01"/> <!-- 根据D435相机的实际尺寸调整 -->
1038
+ </geometry>
1039
+ </collision>
1040
+ <inertial>
1041
+ <mass value="0.1"/> <!-- 相机的估计质量 -->
1042
+ <origin xyz="0 0 0" rpy="0 0 0"/>
1043
+ <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 -->
1044
+ </inertial>
1045
+ </link>
1046
+
1047
+ <!-- 连接相机和末端执行器的关节 -->
1048
+ <joint name="camera_joint_right" type="fixed">
1049
+ <parent link="fr_link6"/>
1050
+ <child link="camera_right"/>
1051
+ <origin xyz="0.05 0 0.04" rpy="0 0 0"/> <!-- 根据相机的安装位置调整 -->
1052
+ </joint>
1053
+
1054
+ <link name="fr_link7">
1055
+ <inertial>
1056
+ <origin xyz="-0.000327642774520215 -0.00482005374028087 -0.00167540868720402" rpy="0 0 0" />
1057
+ <mass value="0.0484016660227936" />
1058
+ <inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
1059
+ </inertial>
1060
+ <visual>
1061
+ <origin xyz="0 0 0" rpy="0 0 0" />
1062
+ <geometry>
1063
+ <mesh filename="aloha_maniskill_sim/meshes/link7.STL" />
1064
+ </geometry>
1065
+ <material name="">
1066
+ <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
1067
+ </material>
1068
+ </visual>
1069
+ <collision>
1070
+ <origin xyz="0 0 0" rpy="0 0 0" />
1071
+ <geometry>
1072
+ <mesh filename="aloha_maniskill_sim/meshes/link7.STL" />
1073
+ </geometry>
1074
+ </collision>
1075
+ </link>
1076
+ <joint name="fr_joint7" type="prismatic">
1077
+ <origin xyz="0.073574 0.024629 0" rpy="0 0 0" />
1078
+ <parent link="fr_link6" />
1079
+ <child link="fr_link7" />
1080
+ <axis xyz="0 1 0" />
1081
+ <limit lower="0" upper="0.04765" effort="100" velocity="100" />
1082
+ </joint>
1083
+ <link name="fr_link8">
1084
+ <inertial>
1085
+ <origin xyz="-0.000327643744208572 0.00482005363510456 0.000752972893839382" rpy="0 0 0" />
1086
+ <mass value="0.0484016646136083" />
1087
+ <inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
1088
+ </inertial>
1089
+ <visual>
1090
+ <origin xyz="0 0 0" rpy="0 0 0" />
1091
+ <geometry>
1092
+ <mesh filename="aloha_maniskill_sim/meshes/link8.STL" />
1093
+ </geometry>
1094
+ <material name="">
1095
+ <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
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/link8.STL" />
1102
+ </geometry>
1103
+ </collision>
1104
+ </link>
1105
+ <joint name="fr_joint8" type="prismatic">
1106
+ <origin xyz="0.073574 -0.024629 0" rpy="0 0 0" />
1107
+ <parent link="fr_link6" />
1108
+ <child link="fr_link8" />
1109
+ <axis xyz="0 -1 0" />
1110
+ <limit lower="0" upper="0.04765" effort="100" velocity="100" />
1111
+ </joint>
1112
+
1113
+ <!--***************************** left-rear ****************************** -->
1114
+ <link name="lr_base_link">
1115
+ <inertial>
1116
+ <origin xyz="-2.9972E-05 3.056E-05 0.027301" rpy="0 0 0" />
1117
+ <mass value="0.44038" />
1118
+ <inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00018" iyz="0.00000" izz="0.00016" />
1119
+ </inertial>
1120
+ <visual>
1121
+ <origin xyz="0 0 0" rpy="0 0 0" />
1122
+ <geometry>
1123
+ <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
1124
+ </geometry>
1125
+ <material name="">
1126
+ <color rgba="0.75294 0.75294 0.75294 1" />
1127
+ </material>
1128
+ </visual>
1129
+ <!-- <collision>
1130
+ <origin xyz="0 0 0" rpy="0 0 0" />
1131
+ <geometry>
1132
+ <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
1133
+ </geometry>
1134
+ </collision> -->
1135
+ </link>
1136
+ <joint name="lr_base_joint" type="fixed">
1137
+ <origin xyz="-0.309 0.307 0.903" rpy="0.0 0.0 0.0" />
1138
+ <parent link="footprint" />
1139
+ <child link="lr_base_link" />
1140
+ <axis xyz="0.0 0.0 1.0" />
1141
+ </joint>
1142
+ <link name="lr_link1">
1143
+ <inertial>
1144
+ <origin xyz="0.00609525411893452 -0.00429681977500749 0.0179590247477389" rpy="0 0 0" />
1145
+ <mass value="0.0608351104988555" />
1146
+ <inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00007" />
1147
+ </inertial>
1148
+ <visual>
1149
+ <origin xyz="0 0 0" rpy="0 0 0" />
1150
+ <geometry>
1151
+ <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
1152
+ </geometry>
1153
+ <material name="">
1154
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
1155
+ </material>
1156
+ </visual>
1157
+ <!-- <collision>
1158
+ <origin xyz="0 0 0" rpy="0 0 0" />
1159
+ <geometry>
1160
+ <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
1161
+ </geometry>
1162
+ </collision> -->
1163
+ </link>
1164
+ <joint name="lr_joint1" type="revolute">
1165
+ <origin xyz="0 0 0.0603" rpy="0 0 0" />
1166
+ <parent link="lr_base_link" />
1167
+ <child link="lr_link1" />
1168
+ <axis xyz="0 0 1" />
1169
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
1170
+ </joint>
1171
+ <link name="lr_link2">
1172
+ <inertial>
1173
+ <origin xyz="-0.132382037190567 0.00220380675553821 0.000111790164679923" rpy="0 0 0" />
1174
+ <mass value="1.0733279014126" />
1175
+ <inertia ixx="0.00050" ixy="0.00000" ixz="-0.00004" iyy="0.01596" iyz="0.00000" izz="0.01602" />
1176
+ </inertial>
1177
+ <visual>
1178
+ <origin xyz="0 0 0" rpy="0 0 0" />
1179
+ <geometry>
1180
+ <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
1181
+ </geometry>
1182
+ <material name="">
1183
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
1184
+ </material>
1185
+ </visual>
1186
+ <!-- <collision>
1187
+ <origin xyz="0 0 0" rpy="0 0 0" />
1188
+ <geometry>
1189
+ <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
1190
+ </geometry>
1191
+ </collision> -->
1192
+ </link>
1193
+ <joint name="lr_joint2" type="revolute">
1194
+ <origin xyz="0.02 0 0.0402" rpy="0 0 0" />
1195
+ <parent link="lr_link1" />
1196
+ <child link="lr_link2" />
1197
+ <axis xyz="0 1 0" />
1198
+ <dynamics damping="0.0" friction="100.0"/>
1199
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
1200
+ </joint>
1201
+ <link name="lr_link3">
1202
+ <inertial>
1203
+ <origin xyz="0.187203287369961 -0.000305676361444925 -0.0514832866415513" rpy="0 0 0" />
1204
+ <mass value="0.499404738025019" />
1205
+ <inertia ixx="0.00033" ixy="-0.00006" ixz="-0.00039" iyy="0.00387" iyz="0.00001" izz="0.00383" />
1206
+ </inertial>
1207
+ <visual>
1208
+ <origin xyz="0 0 0" rpy="0 0 0" />
1209
+ <geometry>
1210
+ <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
1211
+ </geometry>
1212
+ <material name="">
1213
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
1214
+ </material>
1215
+ </visual>
1216
+ <!-- <collision>
1217
+ <origin xyz="0 0 0" rpy="0 0 0" />
1218
+ <geometry>
1219
+ <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
1220
+ </geometry>
1221
+ </collision> -->
1222
+ </link>
1223
+ <joint name="lr_joint3" type="revolute">
1224
+ <origin xyz="-0.264 0 0" rpy="-3.1416 0 0" />
1225
+ <parent link="lr_link2" />
1226
+ <child link="lr_link3" />
1227
+ <axis xyz="0 1 0" />
1228
+ <dynamics damping="0.0" friction="100.0"/>
1229
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
1230
+ </joint>
1231
+ <link name="lr_link4">
1232
+ <inertial>
1233
+ <origin xyz="0.0388884702662706 0.00295168681334743 -0.0353282735009622" rpy="0 0 0" />
1234
+ <mass value="0.0809712553169999" />
1235
+ <inertia ixx="0.00013" ixy="-0.00001" ixz="-0.00006" iyy="0.00016" iyz="0.00001" izz="0.00010" />
1236
+ </inertial>
1237
+ <visual>
1238
+ <origin xyz="0 0 0" rpy="0 0 0" />
1239
+ <geometry>
1240
+ <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
1241
+ </geometry>
1242
+ <material name="">
1243
+ <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
1244
+ </material>
1245
+ </visual>
1246
+ <!-- <collision>
1247
+ <origin xyz="0 0 0" rpy="0 0 0" />
1248
+ <geometry>
1249
+ <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
1250
+ </geometry>
1251
+ </collision> -->
1252
+ </link>
1253
+ <joint name="lr_joint4" type="revolute">
1254
+ <origin xyz="0.245 0 -0.056" rpy="0 0 0" />
1255
+ <parent link="lr_link3" />
1256
+ <child link="lr_link4" />
1257
+ <axis xyz="0 1 0" />
1258
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
1259
+ </joint>
1260
+ <link name="lr_link5">
1261
+ <inertial>
1262
+ <origin xyz="0.00289956909960302 3.15826689885766E-05 0.0526188859211408" rpy="0 0 0" />
1263
+ <mass value="0.602357399313257" />
1264
+ <inertia ixx="0.00072" ixy="0.00000" ixz="0.00005" iyy="0.00069" iyz="0.00000" izz="0.00021" />
1265
+ </inertial>
1266
+ <visual>
1267
+ <origin xyz="0 0 0" rpy="0 0 0" />
1268
+ <geometry>
1269
+ <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
1270
+ </geometry>
1271
+ <material name="">
1272
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
1273
+ </material>
1274
+ </visual>
1275
+ <!-- <collision>
1276
+ <origin xyz="0 0 0" rpy="0 0 0" />
1277
+ <geometry>
1278
+ <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
1279
+ </geometry>
1280
+ </collision> -->
1281
+ </link>
1282
+ <joint name="lr_joint5" type="revolute">
1283
+ <origin xyz="0.06575 -0.001 -0.0825" rpy="0 0 0" />
1284
+ <parent link="lr_link4" />
1285
+ <child link="lr_link5" />
1286
+ <axis xyz="0 0 1" />
1287
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
1288
+ </joint>
1289
+ <link name="lr_link6">
1290
+ <inertial>
1291
+ <origin xyz="0.0471798400661976 0.000102970421835668 -0.000138510949393961" rpy="0 0 0" />
1292
+ <mass value="0.462244960775882" />
1293
+ <inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" />
1294
+ </inertial>
1295
+ <visual>
1296
+ <origin xyz="0 0 0" rpy="0 0 0" />
1297
+ <geometry>
1298
+ <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
1299
+ </geometry>
1300
+ <material name="">
1301
+ <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
1302
+ </material>
1303
+ </visual>
1304
+ <!-- <collision>
1305
+ <origin xyz="0 0 0" rpy="0 0 0" />
1306
+ <geometry>
1307
+ <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
1308
+ </geometry>
1309
+ </collision> -->
1310
+ </link>
1311
+ <joint name="lr_joint6" type="revolute">
1312
+ <origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" />
1313
+ <parent link="lr_link5" />
1314
+ <child link="lr_link6" />
1315
+ <axis xyz="1 0 0" />
1316
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
1317
+ </joint>
1318
+ <link name="lr_link7">
1319
+ <inertial>
1320
+ <origin xyz="-0.000327642774520215 -0.00482005374028087 -0.00167540868720402" rpy="0 0 0" />
1321
+ <mass value="0.0484016660227936" />
1322
+ <inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
1323
+ </inertial>
1324
+ <visual>
1325
+ <origin xyz="0 0 0" rpy="0 0 0" />
1326
+ <geometry>
1327
+ <mesh filename="aloha_maniskill_sim/meshes/link7.STL" />
1328
+ </geometry>
1329
+ <material name="">
1330
+ <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
1331
+ </material>
1332
+ </visual>
1333
+ <!-- <collision>
1334
+ <origin xyz="0 0 0" rpy="0 0 0" />
1335
+ <geometry>
1336
+ <mesh filename="aloha_maniskill_sim/meshes/link7.STL" />
1337
+ </geometry>
1338
+ </collision> -->
1339
+ </link>
1340
+ <joint name="lr_joint7" type="prismatic">
1341
+ <origin xyz="0.073574 0.024629 0" rpy="0 0 0" />
1342
+ <parent link="lr_link6" />
1343
+ <child link="lr_link7" />
1344
+ <axis xyz="0 1 0" />
1345
+ <limit lower="0" upper="0.04765" effort="100" velocity="100" />
1346
+ </joint>
1347
+ <link name="lr_link8">
1348
+ <inertial>
1349
+ <origin xyz="-0.000327643744208572 0.00482005363510456 0.000752972893839382" rpy="0 0 0" />
1350
+ <mass value="0.0484016646136083" />
1351
+ <inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
1352
+ </inertial>
1353
+ <visual>
1354
+ <origin xyz="0 0 0" rpy="0 0 0" />
1355
+ <geometry>
1356
+ <mesh filename="aloha_maniskill_sim/meshes/link8.STL" />
1357
+ </geometry>
1358
+ <material name="">
1359
+ <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
1360
+ </material>
1361
+ </visual>
1362
+ <!-- <collision>
1363
+ <origin xyz="0 0 0" rpy="0 0 0" />
1364
+ <geometry>
1365
+ <mesh filename="aloha_maniskill_sim/meshes/link8.STL" />
1366
+ </geometry>
1367
+ </collision> -->
1368
+ </link>
1369
+ <joint name="lr_joint8" type="prismatic">
1370
+ <origin xyz="0.073574 -0.024629 0" rpy="0 0 0" />
1371
+ <parent link="lr_link6" />
1372
+ <child link="lr_link8" />
1373
+ <axis xyz="0 -1 0" />
1374
+ <limit lower="0" upper="0.04765" effort="100" velocity="100" />
1375
+ </joint>
1376
+
1377
+ <!--***************************** right-rear ****************************** -->
1378
+ <link name="rr_base_link">
1379
+ <inertial>
1380
+ <origin xyz="-2.9972E-05 3.056E-05 0.027301" rpy="0 0 0" />
1381
+ <mass value="0.44038" />
1382
+ <inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00018" iyz="0.00000" izz="0.00016" />
1383
+ </inertial>
1384
+ <visual>
1385
+ <origin xyz="0 0 0" rpy="0 0 0" />
1386
+ <geometry>
1387
+ <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
1388
+ </geometry>
1389
+ <material name="">
1390
+ <color rgba="0.75294 0.75294 0.75294 1" />
1391
+ </material>
1392
+ </visual>
1393
+ <!-- <collision>
1394
+ <origin xyz="0 0 0" rpy="0 0 0" />
1395
+ <geometry>
1396
+ <mesh filename="aloha_maniskill_sim/meshes/base_arm.STL" />
1397
+ </geometry>
1398
+ </collision> -->
1399
+ </link>
1400
+ <joint name="rr_base_joint" type="fixed">
1401
+ <origin xyz="-0.309 -0.307 0.903" rpy="0.0 0.0 0.0" />
1402
+ <parent link="footprint" />
1403
+ <child link="rr_base_link" />
1404
+ <axis xyz="0.0 0.0 1.0" />
1405
+ </joint>
1406
+ <link name="rr_link1">
1407
+ <inertial>
1408
+ <origin xyz="0.00609525411893452 -0.00429681977500749 0.0179590247477389" rpy="0 0 0" />
1409
+ <mass value="0.0608351104988555" />
1410
+ <inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00007" />
1411
+ </inertial>
1412
+ <visual>
1413
+ <origin xyz="0 0 0" rpy="0 0 0" />
1414
+ <geometry>
1415
+ <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
1416
+ </geometry>
1417
+ <material name="">
1418
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
1419
+ </material>
1420
+ </visual>
1421
+ <!-- <collision>
1422
+ <origin xyz="0 0 0" rpy="0 0 0" />
1423
+ <geometry>
1424
+ <mesh filename="aloha_maniskill_sim/meshes/link1.STL" />
1425
+ </geometry>
1426
+ </collision> -->
1427
+ </link>
1428
+ <joint name="rr_joint1" type="revolute">
1429
+ <origin xyz="0 0 0.0603" rpy="0 0 0" />
1430
+ <parent link="rr_base_link" />
1431
+ <child link="rr_link1" />
1432
+ <axis xyz="0 0 1" />
1433
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
1434
+ </joint>
1435
+ <link name="rr_link2">
1436
+ <inertial>
1437
+ <origin xyz="-0.132382037190567 0.00220380675553821 0.000111790164679923" rpy="0 0 0" />
1438
+ <mass value="1.0733279014126" />
1439
+ <inertia ixx="0.00050" ixy="0.00000" ixz="-0.00004" iyy="0.01596" iyz="0.00000" izz="0.01602" />
1440
+ </inertial>
1441
+ <visual>
1442
+ <origin xyz="0 0 0" rpy="0 0 0" />
1443
+ <geometry>
1444
+ <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
1445
+ </geometry>
1446
+ <material name="">
1447
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
1448
+ </material>
1449
+ </visual>
1450
+ <!-- <collision>
1451
+ <origin xyz="0 0 0" rpy="0 0 0" />
1452
+ <geometry>
1453
+ <mesh filename="aloha_maniskill_sim/meshes/link2.STL" />
1454
+ </geometry>
1455
+ </collision> -->
1456
+ </link>
1457
+ <joint name="rr_joint2" type="revolute">
1458
+ <origin xyz="0.02 0 0.0402" rpy="0 0 0" />
1459
+ <parent link="rr_link1" />
1460
+ <child link="rr_link2" />
1461
+ <axis xyz="0 1 0" />
1462
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
1463
+ </joint>
1464
+ <link name="rr_link3">
1465
+ <inertial>
1466
+ <origin xyz="0.187203287369961 -0.000305676361444925 -0.0514832866415513" rpy="0 0 0" />
1467
+ <mass value="0.499404738025019" />
1468
+ <inertia ixx="0.00033" ixy="-0.00006" ixz="-0.00039" iyy="0.00387" iyz="0.00001" izz="0.00383" />
1469
+ </inertial>
1470
+ <visual>
1471
+ <origin xyz="0 0 0" rpy="0 0 0" />
1472
+ <geometry>
1473
+ <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
1474
+ </geometry>
1475
+ <material name="">
1476
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
1477
+ </material>
1478
+ </visual>
1479
+ <!-- <collision>
1480
+ <origin xyz="0 0 0" rpy="0 0 0" />
1481
+ <geometry>
1482
+ <mesh filename="aloha_maniskill_sim/meshes/link3.STL" />
1483
+ </geometry>
1484
+ </collision> -->
1485
+ </link>
1486
+ <joint name="rr_joint3" type="revolute">
1487
+ <origin xyz="-0.264 0 0" rpy="-3.1416 0 0" />
1488
+ <parent link="rr_link2" />
1489
+ <child link="rr_link3" />
1490
+ <axis xyz="0 1 0" />
1491
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
1492
+ </joint>
1493
+ <link name="rr_link4">
1494
+ <inertial>
1495
+ <origin xyz="0.0388884702662706 0.00295168681334743 -0.0353282735009622" rpy="0 0 0" />
1496
+ <mass value="0.0809712553169999" />
1497
+ <inertia ixx="0.00013" ixy="-0.00001" ixz="-0.00006" iyy="0.00016" iyz="0.00001" izz="0.00010" />
1498
+ </inertial>
1499
+ <visual>
1500
+ <origin xyz="0 0 0" rpy="0 0 0" />
1501
+ <geometry>
1502
+ <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
1503
+ </geometry>
1504
+ <material name="">
1505
+ <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
1506
+ </material>
1507
+ </visual>
1508
+ <!-- <collision>
1509
+ <origin xyz="0 0 0" rpy="0 0 0" />
1510
+ <geometry>
1511
+ <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
1512
+ </geometry>
1513
+ </collision> -->
1514
+ </link>
1515
+ <joint name="rr_joint4" type="revolute">
1516
+ <origin xyz="0.245 0 -0.056" rpy="0 0 0" />
1517
+ <parent link="rr_link3" />
1518
+ <child link="rr_link4" />
1519
+ <axis xyz="0 1 0" />
1520
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
1521
+ </joint>
1522
+ <link name="rr_link5">
1523
+ <inertial>
1524
+ <origin xyz="0.00289956909960302 3.15826689885766E-05 0.0526188859211408" rpy="0 0 0" />
1525
+ <mass value="0.602357399313257" />
1526
+ <inertia ixx="0.00072" ixy="0.00000" ixz="0.00005" iyy="0.00069" iyz="0.00000" izz="0.00021" />
1527
+ </inertial>
1528
+ <visual>
1529
+ <origin xyz="0 0 0" rpy="0 0 0" />
1530
+ <geometry>
1531
+ <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
1532
+ </geometry>
1533
+ <material name="">
1534
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
1535
+ </material>
1536
+ </visual>
1537
+ <!-- <collision>
1538
+ <origin xyz="0 0 0" rpy="0 0 0" />
1539
+ <geometry>
1540
+ <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
1541
+ </geometry>
1542
+ </collision> -->
1543
+ </link>
1544
+ <joint name="rr_joint5" type="revolute">
1545
+ <origin xyz="0.06575 -0.001 -0.0825" rpy="0 0 0" />
1546
+ <parent link="rr_link4" />
1547
+ <child link="rr_link5" />
1548
+ <axis xyz="0 0 1" />
1549
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
1550
+ </joint>
1551
+ <link name="rr_link6">
1552
+ <inertial>
1553
+ <origin xyz="0.0471798400661976 0.000102970421835668 -0.000138510949393961" rpy="0 0 0" />
1554
+ <mass value="0.462244960775882" />
1555
+ <inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" />
1556
+ </inertial>
1557
+ <visual>
1558
+ <origin xyz="0 0 0" rpy="0 0 0" />
1559
+ <geometry>
1560
+ <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
1561
+ </geometry>
1562
+ <material name="">
1563
+ <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
1564
+ </material>
1565
+ </visual>
1566
+ <!-- <collision>
1567
+ <origin xyz="0 0 0" rpy="0 0 0" />
1568
+ <geometry>
1569
+ <mesh filename="aloha_maniskill_sim/meshes/link6.STL" />
1570
+ </geometry>
1571
+ </collision> -->
1572
+ </link>
1573
+ <joint name="rr_joint6" type="revolute">
1574
+ <origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" />
1575
+ <parent link="rr_link5" />
1576
+ <child link="rr_link6" />
1577
+ <axis xyz="1 0 0" />
1578
+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
1579
+ </joint>
1580
+ <link name="rr_link7">
1581
+ <inertial>
1582
+ <origin xyz="-0.000327642774520215 -0.00482005374028087 -0.00167540868720402" rpy="0 0 0" />
1583
+ <mass value="0.0484016660227936" />
1584
+ <inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
1585
+ </inertial>
1586
+ <visual>
1587
+ <origin xyz="0 0 0" rpy="0 0 0" />
1588
+ <geometry>
1589
+ <mesh filename="aloha_maniskill_sim/meshes/link7.STL" />
1590
+ </geometry>
1591
+ <material name="">
1592
+ <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
1593
+ </material>
1594
+ </visual>
1595
+ <!-- <collision>
1596
+ <origin xyz="0 0 0" rpy="0 0 0" />
1597
+ <geometry>
1598
+ <mesh filename="aloha_maniskill_sim/meshes/link7.STL" />
1599
+ </geometry>
1600
+ </collision> -->
1601
+ </link>
1602
+ <joint name="rr_joint7" type="prismatic">
1603
+ <origin xyz="0.073574 0.024629 0" rpy="0 0 0" />
1604
+ <parent link="rr_link6" />
1605
+ <child link="rr_link7" />
1606
+ <axis xyz="0 1 0" />
1607
+ <limit lower="0" upper="0.04765" effort="100" velocity="100" />
1608
+ </joint>
1609
+ <link name="rr_link8">
1610
+ <inertial>
1611
+ <origin xyz="-0.000327643744208572 0.00482005363510456 0.000752972893839382" rpy="0 0 0" />
1612
+ <mass value="0.0484016646136083" />
1613
+ <inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" />
1614
+ </inertial>
1615
+ <visual>
1616
+ <origin xyz="0 0 0" rpy="0 0 0" />
1617
+ <geometry>
1618
+ <mesh filename="aloha_maniskill_sim/meshes/link8.STL" />
1619
+ </geometry>
1620
+ <material name="">
1621
+ <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
1622
+ </material>
1623
+ </visual>
1624
+ <!-- <collision>
1625
+ <origin xyz="0 0 0" rpy="0 0 0" />
1626
+ <geometry>
1627
+ <mesh filename="aloha_maniskill_sim/meshes/link8.STL" />
1628
+ </geometry>
1629
+ </collision> -->
1630
+ </link>
1631
+ <joint name="rr_joint8" type="prismatic">
1632
+ <origin xyz="0.073574 -0.024629 0" rpy="0 0 0" />
1633
+ <parent link="rr_link6" />
1634
+ <child link="rr_link8" />
1635
+ <axis xyz="0 -1 0" />
1636
+ <limit lower="0" upper="0.04765" effort="100" velocity="100" />
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+ </joint>
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+ </robot>
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+
embodiments/aloha-agilex-tactile/urdf/arx5_description_isaac_v1.urdf ADDED
@@ -0,0 +1,1901 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" encoding="utf-8" ?>
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+ <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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+ Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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+ For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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+ <robot name="arx5_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
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+ <!-- <link name="footprint"/> -->
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+
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+ <!-- <xacro:include filename="$(find tracer_description)/urdf/tracer_v1.xacro"/> -->
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+ <!-- <xacro:include filename="$(find realsense2_description)/urdf/_d435.xacro"/> -->
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+
11
+ <link name="footprint">
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+ </link>
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+
14
+ <!-- tracer base -->
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+ <link name="base_link">
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+ <visual>
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+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
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+ <!--<origin xyz="0 0 0" rpy="0 0 0"/>-->
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
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+ <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.dae" />
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+ <!--<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>-->
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <!--origin
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+ xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
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+ rpy="0 0 0" /-->
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+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.STL" /> -->
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+ <box size="0.35 0.1 0.35"/>
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+ </geometry>
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+ </collision>
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+ </link>
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+ <link name="inertial_link">
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+ <inertial>
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+ <!--mass value="44.3898489950015" /-->
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+ <mass value="132.3898489950015" />
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+ <!-- <mass value="50" /> -->
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+ <!-- <origin xyz="-0.00065 -0.085 0.062" />
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+ <inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
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+ <origin xyz="0.015 0.0231316650320557 0" />
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+ <!--<origin
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+ xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
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+ rpy="0 0 0" />-->
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+ <inertia ixx="0.185196122711036"
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+ ixy="4.30144213829512E-08"
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+ ixz="5.81037523686401E-08"
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+ iyy="0.364893736238929"
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+ iyz="-0.000386720198091934"
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+ izz="0.223868521722778" />
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+ <!--<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />-->
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+ </inertial>
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+ </link>
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+
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+ <joint name="inertial_joint" type="fixed">
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <parent link="base_link" />
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+ <child link="inertial_link" />
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+ </joint>
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+
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+ <link name="right_wheel_link">
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+ <inertial>
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+ <mass value="6" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="1.57 0 0" />
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
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+ <cylinder radius="0.05" length="0.05" />
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+ </geometry>
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+ </collision>
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+ </link>
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+
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+ <joint name="right_wheel" type="continuous">
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+ <parent link="base_link"/>
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+ <child link="right_wheel_link"/>
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+ <origin xyz="0 -0.17 -0.082" rpy="0 0 0" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
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+ <link name="left_wheel_link">
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+ <inertial>
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+ <mass value="6" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="1.57 0 0" />
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
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+ <cylinder radius="0.05" length="0.05" />
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+ </geometry>
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+ </collision>
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+ </link>
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+
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+ <joint name="left_wheel" type="continuous">
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+ <parent link="base_link"/>
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+ <child link="left_wheel_link"/>
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+ <origin xyz="0 0.17 -0.082" rpy="0 0 0" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
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+ <link name="fl_castor_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
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+ </geometry>
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+ </visual>
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+ </link>
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+
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+ <joint name="fl_castor_wheel" type="continuous">
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+ <parent link="base_link" />
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+ <child link="fl_castor_link" />
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+ <origin xyz="0.19 0.17 -0.038" rpy="-1.57 0 0" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
142
+ </joint>
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+
144
+ <link name="fr_castor_link">
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+ <inertial>
146
+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
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+ </geometry>
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+ </visual>
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+ </link>
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+
157
+ <joint name="fr_castor_wheel" type="continuous">
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+ <origin xyz="0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
159
+ <parent link="base_link" />
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+ <child link="fr_castor_link" />
161
+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
164
+ <link name="rr_castor_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
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+ </geometry>
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+ </visual>
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+ </link>
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+
177
+ <joint name="rr_castor_wheel" type="continuous">
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+ <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>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
193
+ </geometry>
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+ </visual>
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+ </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>
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+
204
+ <link name="fl_wheel_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> -->
221
+ <cylinder radius="0.025" length="0.025" />
222
+ </geometry>
223
+ </collision>
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+ </link>
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+
226
+ <joint name="fl_wheel" type="continuous">
227
+ <parent link="fl_castor_link"/>
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+ <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>
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+
234
+ <link name="fr_wheel_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
243
+ </geometry>
244
+ </visual>
245
+ <collision>
246
+ <origin
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+ 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>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
274
+ </geometry>
275
+ </visual>
276
+ <collision>
277
+ <origin
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+ 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>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
304
+ </geometry>
305
+ </visual>
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+ <collision>
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+ <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" />
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+ </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">
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+ <inertial>
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+ <origin xyz="-0.17227 -0.0012276 0.023432" rpy="0 0 0" />
335
+ <mass value="0.00014994" />
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+ <inertia ixx="0.012264" ixy="-9.2432E-06" ixz="0.0001761" iyy="0.0045226" iyz="-0.00063248" izz="0.016558" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="-0.05 0 0" />
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/box1_Link.STL" />
342
+ </geometry>
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+ <material name="">
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+ <color rgba="0.79216 0.81961 0.93333 1" />
345
+ </material>
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+ </visual>
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+ <collision>
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+ <origin xyz="0 0 0" rpy="-0.05 0 0" />
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+ <geometry>
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+ <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>
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+ <origin xyz="0.015107 -0.027922 0.00013672" rpy="0 0 0" />
363
+ <mass value="3.736" />
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+ <inertia ixx="0.097545" ixy="-9.2609E-06" ixz="0.00015366" iyy="0.045841" iyz="-0.0020459" izz="0.084773" />
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+ </inertial>
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+ <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>
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+ <mesh filename="aloha_maniskill_sim/meshes/link4.dae" />
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+ </geometry>
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+ <!-- <material name="black">
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+ <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
1794
+ </material> -->
1795
+ </visual>
1796
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1797
+ <origin xyz="0 0 0" rpy="0 0 0" />
1798
+ <geometry>
1799
+ <mesh filename="aloha_maniskill_sim/meshes/link4.STL" />
1800
+ </geometry>
1801
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1802
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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>
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1811
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1813
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+ <inertia ixx="0.00072" ixy="0.00000" ixz="0.00005" iyy="0.00069" iyz="0.00000" izz="0.00021" />
1815
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1816
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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> -->
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+ </visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
1827
+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/link5.STL" />
1829
+ </geometry>
1830
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1831
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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>
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+ <origin xyz="0.0471798400661976 0.000102970421835668 -0.000138510949393961" rpy="0 0 0" />
1842
+ <mass value="0.462244960775882" />
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+ <inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" />
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/link6.dae" />
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+ </geometry>
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+ <!-- <material name="black">
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+ <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
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+ </material> -->
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+ </visual>
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1855
+ <origin xyz="0 0 0" rpy="0 0 0" />
1856
+ <geometry>
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+ <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>
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1878
+ </geometry>
1879
+ <!-- <material name="black">
1880
+ <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
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+ </material> -->
1882
+ </visual>
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1884
+ <origin xyz="0 0 0" rpy="0 0 0" />
1885
+ <geometry>
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+ <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>
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+
1898
+
1899
+
1900
+ </robot>
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+
embodiments/aloha-agilex-tactile/urdf/arx5_description_isaac（复件）.urdf ADDED
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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)
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+ Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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+ For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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+ <robot name="arx5_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
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+ <!-- <link name="footprint"/> -->
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+
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+ <!-- <xacro:include filename="$(find tracer_description)/urdf/tracer_v1.xacro"/> -->
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+ <!-- <xacro:include filename="$(find realsense2_description)/urdf/_d435.xacro"/> -->
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+
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+ <link name="footprint">
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+ </link>
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+
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+ <!-- tracer base -->
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+ <link name="base_link">
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+ <visual>
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+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
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+ <!--<origin xyz="0 0 0" rpy="0 0 0"/>-->
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
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+ <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.dae" />
22
+ <!--<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>-->
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <!--origin
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+ xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
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+ rpy="0 0 0" /-->
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+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae" /> -->
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.STL" /> -->
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+ <box size="0.35 0.1 0.35"/>
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+ </geometry>
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+ </collision>
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+ </link>
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+ <link name="inertial_link">
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+ <inertial>
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+ <!--mass value="44.3898489950015" /-->
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+ <mass value="132.3898489950015" />
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+ <!-- <mass value="50" /> -->
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+ <!-- <origin xyz="-0.00065 -0.085 0.062" />
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+ <inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
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+ <origin xyz="0.015 0.0231316650320557 0" />
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+ <!--<origin
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+ xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
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+ rpy="0 0 0" />-->
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+ <inertia ixx="0.185196122711036"
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+ ixy="4.30144213829512E-08"
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+ ixz="5.81037523686401E-08"
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+ iyy="0.364893736238929"
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+ iyz="-0.000386720198091934"
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+ izz="0.223868521722778" />
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+ <!--<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />-->
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+ </inertial>
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+ </link>
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+
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" />
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+ </joint>
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+
64
+ <link name="right_wheel_link">
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+ <inertial>
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+ <mass value="6" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="1.57 0 0" />
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+ <geometry>
81
+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
82
+ <cylinder radius="0.05" length="0.05" />
83
+ </geometry>
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+ </collision>
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+ </link>
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+
87
+ <joint name="right_wheel" type="continuous">
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+ <parent link="base_link"/>
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+ <child link="right_wheel_link"/>
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+ <origin xyz="0 -0.17 -0.082" rpy="0 0 0" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
93
+
94
+ <link name="left_wheel_link">
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+ <inertial>
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+ <mass value="6" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="1.57 0 0" />
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+ <geometry>
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+ <!-- <mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> -->
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+ <cylinder radius="0.05" length="0.05" />
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+ </geometry>
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+ </collision>
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+ </link>
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+
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+ <joint name="left_wheel" type="continuous">
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+ <parent link="base_link"/>
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+ <child link="left_wheel_link"/>
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+ <origin xyz="0 0.17 -0.082" rpy="0 0 0" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
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+ <link name="fl_castor_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
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+ </geometry>
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+ </visual>
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+ </link>
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+
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+ <joint name="fl_castor_wheel" type="continuous">
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+ <parent link="base_link" />
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+ <child link="fl_castor_link" />
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+ <origin xyz="0.19 0.17 -0.038" rpy="-1.57 0 0" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
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+ <link name="fr_castor_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
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+ </geometry>
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+ </visual>
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+ </link>
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+
157
+ <joint name="fr_castor_wheel" type="continuous">
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+ <origin xyz="0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
159
+ <parent link="base_link" />
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+ <child link="fr_castor_link" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
164
+ <link name="rr_castor_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
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+ </geometry>
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+ </visual>
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+ </link>
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+
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+ <joint name="rr_castor_wheel" type="continuous">
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+ <origin xyz="-0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
179
+ <parent link="base_link" />
180
+ <child link="rr_castor_link" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
184
+ <link name="rl_castor_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" />
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+ </geometry>
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+ </visual>
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+ </link>
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+
197
+ <joint name="rl_castor_wheel" type="continuous">
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+ <origin xyz="-0.18955 0.17 -0.0380886" rpy="-1.57 0 0" />
199
+ <parent link="base_link" />
200
+ <child link="rl_castor_link" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
204
+ <link name="fl_wheel_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="aloha_maniskill_sim/meshes/castor.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <!-- <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>
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+
234
+ <link name="fr_wheel_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
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+ </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="transparent_material">
855
+ <color
856
+ rgba="1 1 1 0" />
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="transparent_material">
946
+ <color
947
+ rgba="1 1 1 0" />
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="transparent_material">
1312
+ <color
1313
+ rgba="1 1 1 0" />
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="transparent_material">
1401
+ <color
1402
+ rgba="1 1 1 0" />
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
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+ <joint name="rr_base_joint" type="fixed">
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+ <parent link="footprint" />
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+ <child link="rr_base_link" />
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+ <axis xyz="0.0 0.0 1.0" />
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+ </joint>
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+ <link name="rr_link1">
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+ <geometry>
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+ </geometry>
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+ <!-- <material name="black">
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+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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+ </material> -->
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+ </visual>
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint name="rr_joint1" type="revolute">
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+ <origin xyz="0 0 0.0603" rpy="0 0 0" />
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+ <parent link="rr_base_link" />
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+ <child link="rr_link1" />
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+ <limit lower="-10" upper="10" effort="100" velocity="1000" />
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+ </geometry>
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+ </geometry>
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+ </geometry>
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+ <origin xyz="-0.264 0 0" rpy="-3.1416 0 0" />
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+ </geometry>
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+ </geometry>
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+ </material> -->
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+ </geometry>
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+ <visual>
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+ <geometry>
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+ </geometry>
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+ <!-- <material name="black">
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+ <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
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+ </material> -->
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+ <parent link="rr_link6" />
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+
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+
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+
1900
+ </robot>
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+
embodiments/aloha-agilex-tactile/urdf/piper_with_pika.urdf ADDED
@@ -0,0 +1,405 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" ?>
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+ <!-- =================================================================================== -->
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+ <!-- | This document was autogenerated by xacro from piper_with_pika.xacro | -->
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+ <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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+ <!-- =================================================================================== -->
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+ <robot name="piper_with_pika">
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+ <!-- world -->
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+ <link name="world"/>
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+ <joint name="fixed_base_joint" type="fixed">
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+ <parent link="world"/>
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+ <child link="base_link"/>
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+ </joint>
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+ <!-- arm -->
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+ <link name="base_link">
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+ <inertial>
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+ </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-tactile/urdf/piper_with_pika/big_limit/CMakeLists.txt ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ cmake_minimum_required(VERSION 2.8.3)
2
+
3
+ project(big_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-tactile/urdf/piper_with_pika/big_limit/config/joint_names_big_limit.yaml ADDED
@@ -0,0 +1 @@
 
 
1
+ controller_joint_names: ['', 'Left_joint2', 'Rright_Joint2', ]
embodiments/aloha-agilex-tactile/urdf/piper_with_pika/big_limit/export.log ADDED
The diff for this file is too large to render. See raw diff
 
embodiments/aloha-agilex-tactile/urdf/piper_with_pika/big_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 big_limit)/urdf/big_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 big_limit)/urdf.rviz" />
20
+ </launch>
embodiments/aloha-agilex-tactile/urdf/piper_with_pika/big_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 big_limit)/urdf/big_limit.urdf -urdf -model big_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-tactile/urdf/piper_with_pika/big_limit/package.xml ADDED
@@ -0,0 +1,21 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <package format="2">
2
+ <name>big_limit</name>
3
+ <version>1.0.0</version>
4
+ <description>
5
+ <p>URDF Description package for big_limit</p>
6
+ <p>This package contains configuration data, 3D models and launch files
7
+ for big_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-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-tactile/urdf/piper_with_pika/gripper6/config/joint_names_gripper6.yaml ADDED
@@ -0,0 +1 @@
 
 
1
+ controller_joint_names: ['', 'Center_rotate_Joint', 'Left_Joint1', 'Right_joint1', 'Rright_Joint2', 'Left_joint2', ]
embodiments/aloha-agilex-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-tactile/urdf/piper_with_pika/gripper6/launch/display.launch ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <launch>
2
+ <arg
3
+ name="model" />
4
+ <param
5
+ name="robot_description"
6
+ textfile="$(find gripper6)/urdf/gripper6.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 gripper6)/urdf.rviz" />
20
+ </launch>
embodiments/aloha-agilex-tactile/urdf/piper_with_pika/gripper6/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 gripper6)/urdf/gripper6.urdf -urdf -model gripper6"
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-tactile/urdf/piper_with_pika/gripper6/meshes/Center_rotate_Link.STL ADDED
Binary file (72.7 kB). View file
 
embodiments/aloha-agilex-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-tactile/urdf/piper_with_pika/gripper6/urdf/gripper6.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,0.0089515797903041,0.0364215348235876,3.07829537042267E-06,0,0,0,0.214689487753452,9.71591878800853E-05,-1.90126582652054E-06,2.1949916356236E-08,0.000216463011868437,2.88388439788687E-08,0.000158039782933548,0,0,0,0,0,0,package://gripper6/meshes/base_link.STL,0.498039215686275,0.498039215686275,0.498039215686275,1,0,0,0,0,0,0,package://gripper6/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-06,1.5899858898474E-14,1.1360633896846E-14,1.10397739264053E-06,4.92877276378663E-07,1.08198992572532E-06,0,0,0,0,0,0,package://gripper6/meshes/Center_rotate_Link.STL,1,1,1,1,0,0,0,0,0,0,package://gripper6/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://gripper6/meshes/Left_Link1.STL,0.741176470588235,0.741176470588235,0.741176470588235,1,0,0,0,0,0,0,package://gripper6/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://gripper6/meshes/Right_Link1.STL,0.741176470588235,0.741176470588235,0.741176470588235,1,0,0,0,0,0,0,package://gripper6/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,-0.022723,0.023236,3.1416,0,0,Center_rotate_Link,-1,0,0,100,1,-3.14,3.14,,,,,,,,
6
+ center_Link,0.00689379101322024,-2.11593597018896E-06,-7.61911077094141E-08,0,0,0,0.00619627807274035,2.40104699268606E-05,-2.84040463473132E-11,-5.45439344288696E-13,2.39976164366923E-05,3.99625892508214E-13,3.69026910110048E-08,0,0,0,0,0,0,package://gripper6/meshes/center_Link.STL,1,1,1,1,0,0,0,0,0,0,package://gripper6/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,0,0.0794,0,3.1416,0,1.5708,base_link,0,0,0,100,1,-3.14,3.14,,,,,,,,
7
+ Rright_Link2,0.0349979672547309,1.67593751518045E-05,0.157006203958172,0,0,0,0.0670211950782051,2.39707110963853E-05,3.42132512220464E-10,1.81031525739416E-05,5.08303478558355E-05,5.29682902210486E-10,4.55057387377832E-05,0,0,0,0,0,0,package://gripper6/meshes/Rright_Link2.STL,1,1,1,1,0,0,0,0,0,0,package://gripper6/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4,基准轴5,Rright_Joint2,prismatic,0.020188,0,-0.089594,0,0,0,center_Link,0,0,1,100,1,-3.14,3.14,,,,,,,,
8
+ Left_Link2,0.0349979672547288,1.75293933621038E-05,0.157006203958172,0,0,0,0.067021195078205,2.39707110963665E-05,3.87108358058417E-10,1.81031525739418E-05,5.08303478558263E-05,5.2968289276711E-10,4.55057387377733E-05,0,0,0,0,0,0,package://gripper6/meshes/Left_Link2.STL,1,1,1,1,0,0,0,0,0,0,package://gripper6/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5,基准轴6,Left_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-tactile/urdf/piper_with_pika/gripper6/urdf/gripper6.urdf ADDED
@@ -0,0 +1,395 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" encoding="utf-8"?>
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+ <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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+ Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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+ For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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+ <robot
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+ name="gripper6">
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+ <link
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+ name="base_link1">
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+ <inertial>
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+ <origin
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+ xyz="0.0089515797903041 0.0364215348235876 3.07829537042267E-06"
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+ rpy="0 0 0" />
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+ <mass
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+ value="0.214689487753452" />
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+ <inertia
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+ ixx="9.71591878800853E-05"
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+ ixy="-1.90126582652054E-06"
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+ ixz="2.1949916356236E-08"
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+ iyy="0.000216463011868437"
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+ iyz="2.88388439788687E-08"
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+ izz="0.000158039782933548" />
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+ </inertial>
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+ <visual>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://gripper6/meshes/base_link1.STL" />
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+ </geometry>
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+ <material
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+ name="">
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+ <color
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+ rgba="0.498039215686275 0.498039215686275 0.498039215686275 1" />
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+ </material>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://gripper6/meshes/base_link1.STL" />
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+ </geometry>
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+ </collision>
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+ </link>
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+ <link
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+ name="Center_rotate_Link">
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+ <inertial>
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+ <origin
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+ xyz="-0.00908900611798977 -1.11064821402274E-10 1.13603564055875E-10"
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+ rpy="0 0 0" />
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+ <mass
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+ value="0.00720439893573367" />
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+ <inertia
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+ ixx="1.58379094214131E-06"
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+ ixy="1.5899858898474E-14"
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+ ixz="1.1360633896846E-14"
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+ iyy="1.10397739264053E-06"
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+ iyz="4.92877276378663E-07"
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+ izz="1.08198992572532E-06" />
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+ </inertial>
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+ <visual>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://gripper6/meshes/Center_rotate_Link.STL" />
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+ </geometry>
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+ <material
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+ name="">
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+ <color
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+ rgba="1 1 1 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://gripper6/meshes/Center_rotate_Link.STL" />
84
+ </geometry>
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+ </collision>
86
+ </link>
87
+ <joint
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+ name="Center_rotate_Joint"
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+ type="revolute">
90
+ <origin
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+ xyz="0 0.0794 0"
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+ rpy="3.1416 0 1.5708" />
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+ <parent
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+ link="base_link1" />
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+ <child
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+ link="Center_rotate_Link" />
97
+ <axis
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+ xyz="-1 0 0" />
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+ <limit
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+ lower="-3.14"
101
+ upper="3.14"
102
+ effort="100"
103
+ velocity="1" />
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+ </joint>
105
+ <link
106
+ name="Left_Link1">
107
+ <inertial>
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+ <origin
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+ xyz="-0.00451809035012546 -0.0050172130255869 -0.0352788030932455"
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+ rpy="0 0 0" />
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+ <mass
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+ value="0.00233344487521202" />
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+ <inertia
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+ ixx="1.00157431083692E-06"
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+ ixy="1.00544726374822E-08"
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+ ixz="7.06985586785449E-08"
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+ iyy="9.78020167250677E-07"
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+ iyz="-1.33193348160561E-07"
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+ izz="6.04065643721678E-08" />
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+ </inertial>
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+ <visual>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
127
+ filename="package://gripper6/meshes/Left_Link1.STL" />
128
+ </geometry>
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+ <material
130
+ name="">
131
+ <color
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+ rgba="0.741176470588235 0.741176470588235 0.741176470588235 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
141
+ filename="package://gripper6/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
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+ xyz="-0.0045180903028309 -0.00501721309858745 -0.0352788027784172"
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+ rpy="0 0 0" />
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+ <mass
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+ value="0.00233344478842126" />
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+ <inertia
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+ ixx="1.00157430513464E-06"
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+ ixy="1.00544726039158E-08"
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+ ixz="7.0698562047413E-08"
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+ iyy="9.78020163861791E-07"
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+ iyz="-1.33193350106491E-07"
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+ izz="6.04065659617006E-08" />
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+ </inertial>
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+ <visual>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://gripper6/meshes/Right_Link1.STL" />
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+ </geometry>
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+ <material
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+ name="">
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+ <color
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+ rgba="0.741176470588235 0.741176470588235 0.741176470588235 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://gripper6/meshes/Right_Link1.STL" />
200
+ </geometry>
201
+ </collision>
202
+ </link>
203
+ <joint
204
+ name="Right_joint1"
205
+ type="revolute">
206
+ <origin
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+ xyz="-0.0005 -0.022723 0.023236"
208
+ rpy="3.1416 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">
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+ <inertial>
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+ <origin
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+ xyz="0.00689379101322024 -2.11593597018896E-06 -7.61911077094141E-08"
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+ rpy="0 0 0" />
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+ <mass
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+ value="0.00619627807274035" />
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+ <inertia
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+ ixx="2.40104699268606E-05"
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+ ixy="-2.84040463473132E-11"
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+ iyy="2.39976164366923E-05"
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+ iyz="3.99625892508214E-13"
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+ izz="3.69026910110048E-08" />
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+ </inertial>
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+ <visual>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
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+ filename="package://gripper6/meshes/center_Link.STL" />
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+ </geometry>
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+ <material
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+ name="">
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+ <color
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+ rgba="1 1 1 1" />
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh
257
+ filename="package://gripper6/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="Rright_Link2">
281
+ <inertial>
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+ <origin
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+ xyz="0.0349979672547309 1.67593751518045E-05 0.157006203958172"
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+ rpy="0 0 0" />
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+ <mass
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+ value="0.0670211950782051" />
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+ <inertia
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+ ixx="2.39707110963853E-05"
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+ ixy="3.42132512220464E-10"
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+ ixz="1.81031525739416E-05"
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+ iyy="5.08303478558355E-05"
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+ iyz="5.29682902210486E-10"
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+ izz="4.55057387377832E-05" />
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+ </inertial>
295
+ <visual>
296
+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
299
+ <geometry>
300
+ <mesh
301
+ filename="package://gripper6/meshes/Rright_Link2.STL" />
302
+ </geometry>
303
+ <material
304
+ name="">
305
+ <color
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+ rgba="1 1 1 1" />
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+ </material>
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+ </visual>
309
+ <collision>
310
+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
314
+ <mesh
315
+ filename="package://gripper6/meshes/Rright_Link2.STL" />
316
+ </geometry>
317
+ </collision>
318
+ </link>
319
+ <joint
320
+ name="Rright_Joint2"
321
+ type="prismatic">
322
+ <origin
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+ xyz="0.020188 0 -0.089594"
324
+ rpy="0 0 0" />
325
+ <parent
326
+ link="center_Link" />
327
+ <child
328
+ link="Rright_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="Left_Link2">
339
+ <inertial>
340
+ <origin
341
+ xyz="0.0349979672547288 1.75293933621038E-05 0.157006203958172"
342
+ rpy="0 0 0" />
343
+ <mass
344
+ value="0.067021195078205" />
345
+ <inertia
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+ ixx="2.39707110963665E-05"
347
+ ixy="3.87108358058417E-10"
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+ ixz="1.81031525739418E-05"
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+ iyy="5.08303478558263E-05"
350
+ iyz="5.2968289276711E-10"
351
+ izz="4.55057387377733E-05" />
352
+ </inertial>
353
+ <visual>
354
+ <origin
355
+ xyz="0 0 0"
356
+ rpy="0 0 0" />
357
+ <geometry>
358
+ <mesh
359
+ filename="package://gripper6/meshes/Left_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://gripper6/meshes/Left_Link2.STL" />
374
+ </geometry>
375
+ </collision>
376
+ </link>
377
+ <joint
378
+ name="Left_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="Left_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-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-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-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-tactile/urdf/piper_with_pika/gripper_limit/meshes/Center_rotate_Link.STL ADDED
Binary file (72.7 kB). View file