Datasets:

dgrachev
/

a2_assets

@@ -17,3 +17,4 @@ simplified_objects/071/textured.sdf filter=lfs diff=lfs merge=lfs -text
 simplified_objects/072/textured.sdf filter=lfs diff=lfs merge=lfs -text
 simplified_objects/073/textured.sdf filter=lfs diff=lfs merge=lfs -text
 simplified_objects/076/textured.sdf filter=lfs diff=lfs merge=lfs -text

 simplified_objects/072/textured.sdf filter=lfs diff=lfs merge=lfs -text
 simplified_objects/073/textured.sdf filter=lfs diff=lfs merge=lfs -text
 simplified_objects/076/textured.sdf filter=lfs diff=lfs merge=lfs -text
+ur5e/gripper/visual/robotiq_gripper_coupling.stl filter=lfs diff=lfs merge=lfs -text

ur5e/collision/base.stl ADDED Viewed

Binary file (21.1 kB). View file

ur5e/collision/forearm.stl ADDED Viewed

Binary file (53.3 kB). View file

ur5e/collision/shoulder.stl ADDED Viewed

Binary file (70.1 kB). View file

ur5e/collision/upperarm.stl ADDED Viewed

Binary file (99.7 kB). View file

ur5e/collision/wrist1.stl ADDED Viewed

Binary file (59.6 kB). View file

ur5e/collision/wrist2.stl ADDED Viewed

Binary file (67.6 kB). View file

ur5e/collision/wrist3.stl ADDED Viewed

Binary file (7.18 kB). View file

ur5e/gripper/collision/README.md ADDED Viewed

	@@ -0,0 +1,3 @@

+Use the obj instead of dae for inner_finger.
+The obj is generated from dae by using v-hacd.
+The dae is a rough convex hull which causes unexpected collision.

ur5e/gripper/collision/robotiq_arg2f_85_base_link.stl ADDED Viewed

Binary file (86.4 kB). View file

ur5e/gripper/collision/robotiq_arg2f_85_inner_finger.dae ADDED Viewed

	@@ -0,0 +1,56 @@

+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <created>Mon Dec 3 16:35:50 2018 GMT</created>
+        <modified>Mon Dec 3 16:35:50 2018 GMT</modified>
+        <up_axis>Y_UP</up_axis>
+    </asset>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
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ur5e/gripper/collision/robotiq_arg2f_85_inner_knuckle.dae ADDED Viewed

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+        <modified>Mon Dec 3 16:34:34 2018 GMT</modified>
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ur5e/gripper/collision/robotiq_arg2f_85_outer_finger.dae ADDED Viewed

	@@ -0,0 +1,56 @@

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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib"/>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>

ur5e/gripper/collision/robotiq_arg2f_base_link.stl ADDED Viewed

Binary file (86.4 kB). View file

ur5e/gripper/cubic.urdf ADDED Viewed

	@@ -0,0 +1,116 @@

+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from robotiq_arg2f_85_model.xacro   | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="cubic_model">
+  <link name="base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+  </link>
+  <link name="x_base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+  </link>
+  <link name="y_base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+  </link>
+  <link name="z_base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+  </link>
+  <link name="cubic_base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="1.2"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.022 0.03 0.05"/>
+      </geometry>
+      <material name="Light09">
+        <color rgba="0.9 0.9 0.9 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.022 0.03 0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="base_to_x" type="prismatic">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="x_base_link"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1" upper="1" velocity="2.0"/>
+  </joint>
+  <joint name="x_to_y" type="prismatic">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="x_base_link"/>
+    <child link="y_base_link"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1" upper="1" velocity="2.0"/>
+  </joint>
+  <joint name="y_to_z" type="prismatic">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="y_base_link"/>
+    <child link="z_base_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-2" upper="2" velocity="2.0"/>
+  </joint>
+  <joint name="z_to_rot" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="z_base_link"/>
+    <child link="cubic_base_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="2.0"/>
+  </joint>
+  <!-- <link name="dummy_center_indicator_link">
+    <visual>
+      <geometry>
+        <box size="0.025 0.122 0.002"/>
+      </geometry>
+      <material name="Dark4">
+        <color rgba="0.4 0.4 0.4 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <mass value="0.1" />
+      <inertia ixx = "0" ixy = "0" ixz = "0"
+               iyx = "0" iyy = "0" iyz = "0"
+               izx = "0" izy = "0" izz = "0" />
+    </inertial>
+  </link>
+  <joint name="dummy_center_fixed_joint" type="fixed">
+    <parent link="z_base_link"/>
+    <child link="dummy_center_indicator_link"/>
+    <origin xyz="0 0 -0.013"/>
+  </joint> -->
+</robot>

ur5e/gripper/robotiq_2f_85.urdf ADDED Viewed

	@@ -0,0 +1,343 @@

+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from robotiq_arg2f_85_model.xacro   | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="robotiq_arg2f_85_model">
+  <link name="robotiq_arg2f_base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
+      <mass value="0.22652"/>
+      <inertia ixx="0.00020005" ixy="-4.2442E-10" ixz="-2.9069E-10" iyy="0.00017832" iyz="-3.4402E-08" izz="0.00013478"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="visual/robotiq_arg2f_85_base_link.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Dark">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <!-- <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="collision/robotiq_arg2f_base_link.stl"/>
+      </geometry>
+    </collision> -->
+  </link>
+  <link name="left_outer_knuckle">
+    <inertial>
+        <origin xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331" rpy="0 0 0" />
+        <mass value="0.00853198276973456" />
+        <inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06" />
+        </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="visual/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="Light">
+        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
+      </material>
+    </visual>
+    <collision>
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+    <child link="left_outer_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0" upper="0.8" velocity="2.0"/>
+  </joint>
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+    <parent link="left_outer_knuckle"/>
+    <child link="left_outer_finger"/>
+    <axis xyz="1 0 0"/>
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+    <origin rpy="0 0 3.141592653589793" xyz="0 -0.0127 0.06142"/>
+    <parent link="robotiq_arg2f_base_link"/>
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+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="1" offset="0"/>
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+    <origin rpy="0 0 0" xyz="0 0.0061 0.0471"/>
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+    <child link="left_inner_finger"/>
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+    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
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+    <origin rpy="0 0 0" xyz="0 -0.0190203446692936 0.03867"/>
+    <parent link="left_inner_finger"/>
+    <child link="left_inner_finger_pad"/>
+    <axis xyz="0 0 1"/>
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+  <joint name="right_outer_knuckle_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.0306011 0.054904"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="right_outer_knuckle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0" upper="0.81" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="1" offset="0"/>
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+    <parent link="right_outer_knuckle"/>
+    <child link="right_outer_finger"/>
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+  <joint name="right_inner_knuckle_joint" type="revolute">
+    <origin rpy="0 0 0.0" xyz="0 0.0127 0.06142"/>
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="right_inner_knuckle"/>
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+    <limit effort="1000" lower="0" upper="0.8757" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="1" offset="0"/>
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+  <joint name="right_inner_finger_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0.0061 0.0471"/>
+    <parent link="right_outer_finger"/>
+    <child link="right_inner_finger"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-0.8757" upper="0" velocity="2.0"/>
+    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
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+  <joint name="right_inner_finger_pad_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.0190203446692936 0.03867"/>
+    <parent link="right_inner_finger"/>
+    <child link="right_inner_finger_pad"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <link name="dummy_center_indicator_link">
+    <!-- <visual>
+      <geometry>
+        <box size="0.025 0.122 0.002"/>
+      </geometry>
+      <material name="Dark4">
+        <color rgba="0.4 0.4 0.4 1"/>
+      </material>
+    </visual> -->
+    <inertial>
+      <mass value="0.1" />
+      <inertia ixx = "0" ixy = "0" ixz = "0"
+               iyx = "0" iyy = "0" iyz = "0"
+               izx = "0" izy = "0" izz = "0" />
+    </inertial>
+  </link>
+  <joint name="dummy_center_fixed_joint" type="fixed">
+    <parent link="robotiq_arg2f_base_link"/>
+    <child link="dummy_center_indicator_link"/>
+    <origin xyz="0 0 0.1625"/>
+  </joint>
+</robot>

ur5e/gripper/textures/gripper-2f_BaseColor.jpg ADDED Viewed

Git LFS Details

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ur5e/gripper/textures/gripper-2f_Metallic.jpg ADDED Viewed

Git LFS Details

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Size of remote file: 103 kB

ur5e/gripper/textures/gripper-2f_Normal.jpg ADDED Viewed

Git LFS Details

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Pointer size: 130 Bytes
Size of remote file: 85.6 kB

ur5e/gripper/textures/gripper-2f_Roughness.jpg ADDED Viewed

Git LFS Details

SHA256: 34d717acb16e2daf66e4d1d7229227cf51fa7d2292b634c81968bade10b27233
Pointer size: 131 Bytes
Size of remote file: 434 kB

ur5e/gripper/visual/robotiq_arg2f_85_base_link.dae ADDED Viewed

The diff for this file is too large to render. See raw diff

ur5e/gripper/visual/robotiq_arg2f_85_inner_finger.dae ADDED Viewed

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ur5e/gripper/visual/robotiq_arg2f_85_inner_knuckle.dae ADDED Viewed

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ur5e/gripper/visual/robotiq_arg2f_85_outer_finger.dae ADDED Viewed

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ur5e/gripper/visual/robotiq_arg2f_85_outer_knuckle.dae ADDED Viewed

	@@ -0,0 +1,63 @@

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+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
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+        <created>lun lug 18 06:13:31 2016</created>
+        <modified>lun lug 18 06:13:31 2016</modified>
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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>

ur5e/gripper/visual/robotiq_arg2f_85_pad.dae ADDED Viewed

	@@ -0,0 +1,104 @@

+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <created>2016-07-17T22:25:43.361178</created>
+    <modified>2016-07-17T22:25:43.361188</modified>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect name="effect0" id="effect0">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color>0.0 0.0 0.0 1.0</color>
+            </emission>
+            <ambient>
+              <color>0.0 0.0 0.0 1.0</color>
+            </ambient>
+            <diffuse>
+              <color>0.7 0.7 0.7 1.0</color>
+            </diffuse>
+            <specular>
+              <color>1 1 1 1.0</color>
+            </specular>
+            <shininess>
+              <float>0.0</float>
+            </shininess>
+            <reflective>
+              <color>0.0 0.0 0.0 1.0</color>
+            </reflective>
+            <reflectivity>
+              <float>0.0</float>
+            </reflectivity>
+            <transparent>
+              <color>0.0 0.0 0.0 1.0</color>
+            </transparent>
+            <transparency>
+              <float>1.0</float>
+            </transparency>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>0</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="geometry0" name="Part__Feature001">
+      <mesh>
+        <source id="cubenormals-array0">
+          <float_array count="36" id="cubenormals-array0-array">4.38531e-14 -1 -4.451336e-05 4.38531e-14 -1 -4.451336e-05 -4.38531e-14 1 4.451336e-05 -4.38531e-14 1 4.451336e-05 -1 -4.385301e-14 -2.011189e-15 -1 -4.385301e-14 -2.011189e-15 -2.009237e-15 -4.451336e-05 1 -2.009237e-15 -4.451336e-05 1 1 4.385301e-14 2.011189e-15 1 4.385301e-14 2.011189e-15 2.009237e-15 4.451336e-05 -1 2.009237e-15 4.451336e-05 -1</float_array>
+          <technique_common>
+            <accessor count="12" source="#cubenormals-array0-array" stride="3">
+              <param type="float" name="X"/>
+              <param type="float" name="Y"/>
+              <param type="float" name="Z"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="cubeverts-array0">
+          <float_array count="24" id="cubeverts-array0-array">-10 -23.90175 13.51442 10 -23.9033 48.51442 -10 -23.9033 48.51442 10 -23.90175 13.51442 -10 -18.90175 13.51464 -10 -18.9033 48.51464 10 -18.90175 13.51464 10 -18.9033 48.51464</float_array>
+          <technique_common>
+            <accessor count="8" source="#cubeverts-array0-array" stride="3">
+              <param type="float" name="X"/>
+              <param type="float" name="Y"/>
+              <param type="float" name="Z"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="cubeverts-array0-vertices">
+          <input source="#cubeverts-array0" semantic="POSITION"/>
+        </vertices>
+        <triangles count="12" material="materialref">
+          <input source="#cubenormals-array0" semantic="NORMAL" offset="1"/>
+          <input source="#cubeverts-array0-vertices" semantic="VERTEX" offset="0"/>
+          <p>0 0 1 0 2 0 3 1 1 1 0 1 4 2 5 2 6 2 5 3 7 3 6 3 2 4 5 4 4 4 2 5 4 5 0 5 5 6 2 6 1 6 5 7 1 7 7 7 7 8 1 8 6 8 1 9 3 9 6 9 0 10 4 10 3 10 4 11 6 11 3 11</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_materials>
+    <material name="mymaterial" id="material0">
+      <instance_effect url="#effect0"/>
+    </material>
+  </library_materials>
+  <library_visual_scenes>
+    <visual_scene id="myscene">
+      <node name="node0" id="node0">
+        <instance_geometry url="#geometry0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="materialref" target="#material0"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myscene"/>
+  </scene>
+</COLLADA>

ur5e/gripper/visual/robotiq_gripper_coupling.stl ADDED Viewed

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+version https://git-lfs.github.com/spec/v1
+oid sha256:4281e83002a25c20dc07c68b8d77da30a13e9a8401f157f6848ed8287d7cce44
+size 160684

ur5e/license.txt ADDED Viewed

	@@ -0,0 +1,32 @@

+Original work Copyright 2018 ROS Industrial (https://rosindustrial.org/)
+Modified work Copyright 2018 Virtana, Inc (www.virtanatech.com)
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+http://www.apache.org/licenses/LICENSE-2.0
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express
+or implied. See the License for the specific language governing
+permissions and limitations under the License.
+Changenotes:
+2018-05-08: Vijay Pradeep (vijay@virtanatech.com)
+The visual/ mesh files were generated from the dae files in the
+ros-industrial universal robot repo [1]. Since the collada pyBullet
+parser is somewhat limited, it is unable to parse the UR collada mesh
+files.  Thus, we imported these collada files into blender and
+converted them into STL files.  We lost material definitions during
+the conversion, but that's ok.
+The URDF was generated by running the xacro xml preprocessor on the
+URDF included in the ur_description repo already mentioned here.
+Additional manual tweaking was required to update resource paths and
+to remove errors caused by missing inertia elements.  Varios Gazebo
+plugin tags were also removed.
+[1] - https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_description/meshes/ur5/visual

ur5e/plane.obj ADDED Viewed

	@@ -0,0 +1,18 @@

+# Blender v2.66 (sub 1) OBJ File: ''
+# www.blender.org
+mtllib plane.mtl
+o Plane
+v 15.000000 -15.000000 0.000000
+v 15.000000 15.000000 0.000000
+v -15.000000 15.000000 0.000000
+v -15.000000  -15.000000 0.000000
+vt 15.000000 0.000000
+vt 15.000000 15.000000
+vt 0.000000 15.000000
+vt 0.000000 0.000000
+usemtl Material
+s off
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4

ur5e/ur5e.urdf ADDED Viewed

	@@ -0,0 +1,218 @@

+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ur5e_robot.urdf.xacro          | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ur5e" xmlns:xacro="http://wiki.ros.org/xacro">
+  <material name="LightGrey">
+    <color rgba="0.8 0.8 0.8 1.0"/>
+  </material>
+  <material name="LightBlue">
+    <color rgba="0.49 0.67 0.8 1.0"/>
+  </material>
+  <!--property name="shoulder_height" value="0.089159" /-->
+  <!--property name="shoulder_offset" value="0.13585" /-->
+  <!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 -->
+  <!--property name="upper_arm_length" value="0.42500" /-->
+  <!--property name="elbow_offset" value="0.1197" /-->
+  <!-- CAD measured -->
+  <!--property name="forearm_length" value="0.39225" /-->
+  <!--property name="wrist_1_length" value="0.093" /-->
+  <!-- CAD measured -->
+  <!--property name="wrist_2_length" value="0.09465" /-->
+  <!-- In CAD this distance is 0.930, but in the spec it is 0.09465 -->
+  <!--property name="wrist_3_length" value="0.0823" /-->
+  <!-- manually measured -->
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <mesh filename="visual/base.obj"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="collision/base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="4.0"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
+    </inertial>
+  </link>
+  <joint name="shoulder_pan_joint" type="revolute">
+    <parent link="base_link"/>
+    <child link="shoulder_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.163"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.14"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="shoulder_link">
+    <visual>
+      <geometry>
+        <mesh filename="visual/shoulder.obj"/>
+      </geometry>
+      <material name="LightBlue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="collision/shoulder.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="3.7"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
+    </inertial>
+  </link>
+  <joint name="shoulder_lift_joint" type="revolute">
+    <parent link="shoulder_link"/>
+    <child link="upper_arm_link"/>
+    <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0 0.138 0.0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.14"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="upper_arm_link">
+    <visual>
+      <geometry>
+        <mesh filename="visual/upperarm.obj"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="collision/upperarm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="8.393"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.2125"/>
+      <inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
+    </inertial>
+  </link>
+  <joint name="elbow_joint" type="revolute">
+    <parent link="upper_arm_link"/>
+    <child link="forearm_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.131 0.425"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.14"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="forearm_link">
+    <visual>
+      <geometry>
+        <mesh filename="visual/forearm.obj"/>
+      </geometry>
+      <material name="LightBlue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="collision/forearm.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="2.275"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.196"/>
+      <inertia ixx="0.031179620861480004" ixy="0.0" ixz="0.0" iyy="0.031179620861480004" iyz="0.0" izz="0.004095"/>
+    </inertial>
+  </link>
+  <joint name="wrist_1_joint" type="revolute">
+    <parent link="forearm_link"/>
+    <child link="wrist_1_link"/>
+    <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0 0.0 0.392"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="6.28"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="wrist_1_link">
+    <visual>
+      <geometry>
+        <mesh filename="visual/wrist1.obj"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="collision/wrist1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0.0 0.127 0.0"/>
+      <inertia ixx="0.0025598989760400002" ixy="0.0" ixz="0.0" iyy="0.0025598989760400002" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <joint name="wrist_2_joint" type="revolute">
+    <parent link="wrist_1_link"/>
+    <child link="wrist_2_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.127 0.0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="6.28"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="wrist_2_link">
+    <visual>
+      <geometry>
+        <mesh filename="visual/wrist2.obj"/>
+      </geometry>
+      <material name="LightBlue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="collision/wrist2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.219"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.1"/>
+      <inertia ixx="0.0025598989760400002" ixy="0.0" ixz="0.0" iyy="0.0025598989760400002" iyz="0.0" izz="0.0021942"/>
+    </inertial>
+  </link>
+  <joint name="wrist_3_joint" type="revolute">
+    <parent link="wrist_2_link"/>
+    <child link="wrist_3_link"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.1"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="6.28"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+  <link name="wrist_3_link">
+    <visual>
+      <geometry>
+        <mesh filename="visual/wrist3.obj"/>
+      </geometry>
+      <material name="LightGrey"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="collision/wrist3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1879"/>
+      <origin rpy="1.5707963267948966 0 0" xyz="0.0 0.0771 0.0"/>
+      <inertia ixx="9.890410052167731e-05" ixy="0.0" ixz="0.0" iyy="9.890410052167731e-05" iyz="0.0" izz="0.0001321171875"/>
+    </inertial>
+  </link>
+  <joint name="ee_fixed_joint" type="fixed">
+    <parent link="wrist_3_link"/>
+    <child link="ee_link"/>
+    <origin rpy="0.0 0.0 1.5707963267948966" xyz="0.0 0.1 0.0"/>
+  </joint>
+  <link name="ee_link">
+    <collision>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="-0.01 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="0.0"/>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+    </inertial>
+  </link>
+</robot>

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ur5e/visual/forearm.mtl ADDED Viewed

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ur5e/visual/shoulder.mtl ADDED Viewed

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