savoji commited on 9 days ago

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396485d

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1 Parent(s): 5ef5cfb

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msx_assets/object/017_orange/collision.obj +0 -0
msx_assets/object/017_orange/material_0.mtl +7 -0
msx_assets/object/017_orange/textured.mtl +3 -0
msx_assets/object/017_orange/textured.obj +0 -0
msx_assets/object/019_pitcher_base/collision.obj +0 -0
msx_assets/object/019_pitcher_base/material_0.mtl +7 -0
msx_assets/object/019_pitcher_base/textured.mtl +3 -0
msx_assets/object/019_pitcher_base/textured.obj +0 -0
msx_assets/object/022_windex_bottle/collision.obj +0 -0
msx_assets/object/022_windex_bottle/material_0.mtl +7 -0
msx_assets/object/022_windex_bottle/textured.mtl +3 -0
msx_assets/object/022_windex_bottle/textured.obj +0 -0
msx_assets/object/029_plate/collision.obj +3387 -0
msx_assets/object/029_plate/material_0.mtl +7 -0
msx_assets/object/029_plate/textured.mtl +3 -0
msx_assets/object/029_plate/textured.obj +0 -0
msx_assets/object/044_flat_screwdriver/collision.obj +3963 -0
msx_assets/object/044_flat_screwdriver/material_0.mtl +7 -0
msx_assets/object/044_flat_screwdriver/textured.mtl +3 -0
msx_assets/object/044_flat_screwdriver/textured.obj +0 -0
msx_assets/object/050_medium_clamp/collision.obj +0 -0
msx_assets/object/050_medium_clamp/material_0.mtl +7 -0
msx_assets/object/050_medium_clamp/textured.mtl +3 -0
msx_assets/object/050_medium_clamp/textured.obj +0 -0
msx_assets/object/065-f_cups/collision.obj +3257 -0
msx_assets/object/065-f_cups/material_0.mtl +7 -0
msx_assets/object/065-f_cups/textured.mtl +3 -0
msx_assets/object/065-f_cups/textured.obj +0 -0
msx_assets/object/072-a_toy_airplane/collision.obj +0 -0
msx_assets/object/072-a_toy_airplane/material_0.mtl +7 -0
msx_assets/object/072-a_toy_airplane/textured.mtl +3 -0
msx_assets/object/072-a_toy_airplane/textured.obj +0 -0
msx_assets/object/073-b_lego_duplo/collision.obj +0 -0
msx_assets/object/073-b_lego_duplo/material_0.mtl +7 -0
msx_assets/object/073-b_lego_duplo/textured.mtl +3 -0
msx_assets/object/073-b_lego_duplo/textured.obj +0 -0
msx_assets/object/storage_rack_01/storage_rack_01.gltf +269 -0
msx_assets/robot/franka_v3_sphere.urdf +575 -0
msx_assets/robot/panda_v2.srdf +77 -0
msx_assets/robot/panda_v2.urdf +339 -0
msx_assets/robot/panda_v2_sphere.urdf +451 -0
msx_assets/robot/panda_v3.srdf +77 -0
msx_assets/robot/panda_v3.urdf +377 -0
project/ManiSkill3/src/maniskill3_environment/docs/source/_static/env_thumbnails/AnymalC-Reach-v1_rt_thumb_first.png +3 -0
project/ManiSkill3/src/maniskill3_environment/docs/source/_static/env_thumbnails/AnymalC-Reach-v1_rt_thumb_last.png +3 -0
project/ManiSkill3/src/maniskill3_environment/docs/source/_static/env_thumbnails/AnymalC-Spin-v1_rt_thumb_first.png +3 -0
project/ManiSkill3/src/maniskill3_environment/docs/source/_static/env_thumbnails/AssemblingKits-v1_rt_thumb_last.png +3 -0
project/ManiSkill3/src/maniskill3_environment/docs/source/_static/env_thumbnails/LiftPegUpright-v1_rt_thumb_first.png +3 -0
project/ManiSkill3/src/maniskill3_environment/docs/source/_static/env_thumbnails/MS-CartpoleBalance-v1_rt_thumb_first.png +3 -0
project/ManiSkill3/src/maniskill3_environment/docs/source/_static/env_thumbnails/MS-CartpoleBalance-v1_rt_thumb_last.png +3 -0

msx_assets/object/017_orange/collision.obj ADDED Viewed

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msx_assets/object/017_orange/material_0.mtl ADDED Viewed

	@@ -0,0 +1,7 @@

+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

msx_assets/object/017_orange/textured.mtl ADDED Viewed

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

+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png

msx_assets/object/017_orange/textured.obj ADDED Viewed

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msx_assets/object/019_pitcher_base/collision.obj ADDED Viewed

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msx_assets/object/019_pitcher_base/material_0.mtl ADDED Viewed

	@@ -0,0 +1,7 @@

+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

msx_assets/object/019_pitcher_base/textured.mtl ADDED Viewed

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

+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png

msx_assets/object/019_pitcher_base/textured.obj ADDED Viewed

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msx_assets/object/022_windex_bottle/collision.obj ADDED Viewed

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msx_assets/object/022_windex_bottle/material_0.mtl ADDED Viewed

	@@ -0,0 +1,7 @@

+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

msx_assets/object/022_windex_bottle/textured.mtl ADDED Viewed

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

+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png

msx_assets/object/022_windex_bottle/textured.obj ADDED Viewed

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msx_assets/object/029_plate/collision.obj ADDED Viewed

	@@ -0,0 +1,3387 @@

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msx_assets/object/050_medium_clamp/material_0.mtl ADDED Viewed

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msx_assets/object/065-f_cups/collision.obj ADDED Viewed

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msx_assets/object/065-f_cups/material_0.mtl ADDED Viewed

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+# https://github.com/mikedh/trimesh
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msx_assets/object/065-f_cups/textured.mtl ADDED Viewed

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+newmtl material_0
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msx_assets/object/065-f_cups/textured.obj ADDED Viewed

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msx_assets/object/072-a_toy_airplane/collision.obj ADDED Viewed

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

msx_assets/object/072-a_toy_airplane/material_0.mtl ADDED Viewed

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+# https://github.com/mikedh/trimesh
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+Ns 1.00000000
+map_Kd material_0.png

msx_assets/object/072-a_toy_airplane/textured.mtl ADDED Viewed

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

+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png

msx_assets/object/072-a_toy_airplane/textured.obj ADDED Viewed

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

msx_assets/object/073-b_lego_duplo/collision.obj ADDED Viewed

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

msx_assets/object/073-b_lego_duplo/material_0.mtl ADDED Viewed

	@@ -0,0 +1,7 @@

+# https://github.com/mikedh/trimesh
+newmtl material_0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd material_0.png

msx_assets/object/073-b_lego_duplo/textured.mtl ADDED Viewed

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

+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png

msx_assets/object/073-b_lego_duplo/textured.obj ADDED Viewed

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

msx_assets/object/storage_rack_01/storage_rack_01.gltf ADDED Viewed

	@@ -0,0 +1,269 @@

+{
+	"asset":{
+		"generator":"Khronos glTF Blender I/O v4.0.43",
+		"version":"2.0"
+	},
+	"scene":0,
+	"scenes":[
+		{
+			"name":"Scene",
+			"nodes":[
+				0
+			]
+		}
+	],
+	"nodes":[
+		{
+			"mesh":0,
+			"name":"storage_rack_01"
+		}
+	],
+	"materials":[
+		{
+			"doubleSided":true,
+			"name":"metal_rack",
+			"normalTexture":{
+				"index":0
+			},
+			"pbrMetallicRoughness":{
+				"baseColorTexture":{
+					"index":1
+				},
+				"metallicRoughnessTexture":{
+					"index":2
+				}
+			}
+		},
+		{
+			"doubleSided":true,
+			"name":"wood_rack",
+			"normalTexture":{
+				"index":3
+			},
+			"pbrMetallicRoughness":{
+				"baseColorTexture":{
+					"index":4
+				},
+				"metallicFactor":0,
+				"metallicRoughnessTexture":{
+					"index":5
+				}
+			}
+		}
+	],
+	"meshes":[
+		{
+			"name":"storage_rack_01",
+			"primitives":[
+				{
+					"attributes":{
+						"POSITION":0,
+						"NORMAL":1,
+						"TEXCOORD_0":2
+					},
+					"indices":3,
+					"material":0
+				},
+				{
+					"attributes":{
+						"POSITION":4,
+						"NORMAL":5,
+						"TEXCOORD_0":6
+					},
+					"indices":7,
+					"material":1
+				}
+			]
+		}
+	],
+	"textures":[
+		{
+			"sampler":0,
+			"source":0
+		},
+		{
+			"sampler":0,
+			"source":1
+		},
+		{
+			"sampler":0,
+			"source":2
+		},
+		{
+			"sampler":0,
+			"source":3
+		},
+		{
+			"sampler":0,
+			"source":4
+		},
+		{
+			"sampler":0,
+			"source":5
+		}
+	],
+	"images":[
+		{
+			"mimeType":"image/png",
+			"name":"metal_rack_normal",
+			"uri":"metal_rack_normal.png"
+		},
+		{
+			"mimeType":"image/jpeg",
+			"name":"metal_rack_baseColor",
+			"uri":"metal_rack_baseColor.jpg"
+		},
+		{
+			"mimeType":"image/png",
+			"name":"metal_rack_metallicRoughness",
+			"uri":"metal_rack_metallicRoughness.png"
+		},
+		{
+			"mimeType":"image/png",
+			"name":"wood_rack_normal",
+			"uri":"wood_rack_normal.png"
+		},
+		{
+			"mimeType":"image/jpeg",
+			"name":"wood_rack_baseColor",
+			"uri":"wood_rack_baseColor.jpg"
+		},
+		{
+			"mimeType":"image/png",
+			"name":"wood_rack_metallicRoughness",
+			"uri":"wood_rack_metallicRoughness.png"
+		}
+	],
+	"accessors":[
+		{
+			"bufferView":0,
+			"componentType":5126,
+			"count":32297,
+			"max":[
+				0.6250001192092896,
+				2,
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+			"min":[
+				-0.625,
+				-2.7319620343746465e-08,
+				-0.42500007152557373
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+			"type":"VEC3"
+		},
+		{
+			"bufferView":1,
+			"componentType":5126,
+			"count":32297,
+			"type":"VEC3"
+		},
+		{
+			"bufferView":2,
+			"componentType":5126,
+			"count":32297,
+			"type":"VEC2"
+		},
+		{
+			"bufferView":3,
+			"componentType":5123,
+			"count":135936,
+			"type":"SCALAR"
+		},
+		{
+			"bufferView":4,
+			"componentType":5126,
+			"count":126,
+			"max":[
+				0.5195733904838562,
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+			"min":[
+				-0.5195732712745667,
+				0.6086955666542053,
+				-0.41171878576278687
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+			"type":"VEC3"
+		},
+		{
+			"bufferView":5,
+			"componentType":5126,
+			"count":126,
+			"type":"VEC3"
+		},
+		{
+			"bufferView":6,
+			"componentType":5126,
+			"count":126,
+			"type":"VEC2"
+		},
+		{
+			"bufferView":7,
+			"componentType":5123,
+			"count":288,
+			"type":"SCALAR"
+		}
+	],
+	"bufferViews":[
+		{
+			"buffer":0,
+			"byteLength":387564,
+			"byteOffset":0,
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+		},
+		{
+			"buffer":0,
+			"byteLength":387564,
+			"byteOffset":387564,
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+		},
+		{
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+			"byteLength":258376,
+			"byteOffset":775128,
+			"target":34962
+		},
+		{
+			"buffer":0,
+			"byteLength":271872,
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+		{
+			"buffer":0,
+			"byteLength":1512,
+			"byteOffset":1305376,
+			"target":34962
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+		{
+			"buffer":0,
+			"byteLength":1512,
+			"byteOffset":1306888,
+			"target":34962
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+		{
+			"buffer":0,
+			"byteLength":1008,
+			"byteOffset":1308400,
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+		},
+		{
+			"buffer":0,
+			"byteLength":576,
+			"byteOffset":1309408,
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+	],
+	"samplers":[
+		{
+			"magFilter":9729,
+			"minFilter":9987
+		}
+	],
+	"buffers":[
+		{
+			"byteLength":1309984,
+			"uri":"storage_rack_01.bin"
+		}
+	]
+}

msx_assets/robot/franka_v3_sphere.urdf ADDED Viewed

	@@ -0,0 +1,575 @@

+<?xml version="1.0" encoding="utf-8"?>
+<robot name="panda" path="scripts/robot/panda_v3.urdf">
+	<link name="panda_link0">
+		<visual>
+			<geometry>
+				<mesh filename="franka_description/meshes/visual/link0.dae"></mesh>
+			</geometry>
+		</visual>
+		<collision>
+			<geometry>
+				<sphere radius="0.118443"></sphere>
+			</geometry>
+			<origin xyz="-0.013302850344896318 -1.7654266119003296e-05 0.06998816952080536" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.094468"></sphere>
+			</geometry>
+			<origin xyz="-0.08469985034489633 -6.542661190032961e-07 0.04372716952080535" rpy="0 0 0"></origin>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="-0.041018 -0.00014 0.049974"></origin>
+			<mass value="0.629769"></mass>
+			<inertia ixx="0.00315" ixy="8.2904e-07" ixz="0.00015" iyy="0.00388" iyz="8.2299e-06" izz="0.004285"></inertia>
+		</inertial>
+	</link>
+	<link name="panda_link1">
+		<visual>
+			<geometry>
+				<mesh filename="franka_description/meshes/visual/link1.dae"></mesh>
+			</geometry>
+		</visual>
+		<collision>
+			<geometry>
+				<sphere radius="0.088921"></sphere>
+			</geometry>
+			<origin xyz="2.117776274681085e-06 -0.048460439349412916 -0.01970848887789249" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.092445"></sphere>
+			</geometry>
+			<origin xyz="7.811777627468109e-05 -0.004169439349412919 -0.1211374888778925" rpy="0 0 0"></origin>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0.003875 0.002081 -0.04762"></origin>
+			<mass value="4.970684"></mass>
+			<inertia ixx="0.70337" ixy="-0.000139" ixz="0.006772" iyy="0.70661" iyz="0.019169" izz="0.009117"></inertia>
+		</inertial>
+	</link>
+	<link name="panda_link2">
+		<visual>
+			<geometry>
+				<mesh filename="franka_description/meshes/visual/link2.dae"></mesh>
+			</geometry>
+		</visual>
+		<collision>
+			<geometry>
+				<sphere radius="0.080952"></sphere>
+			</geometry>
+			<origin xyz="-6.325302803516388e-05 -0.1374107672843933 0.0027253661164045317" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.083055"></sphere>
+			</geometry>
+			<origin xyz="7.469719648361267e-07 -0.05252276728439331 0.041859366116404534" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.077314"></sphere>
+			</geometry>
+			<origin xyz="2.4746971964836127e-05 -0.0018717672843933109 0.052315366116404534" rpy="0 0 0"></origin>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="-0.003141 -0.02872  0.003495"></origin>
+			<mass value="0.646926"></mass>
+			<inertia ixx="0.007962" ixy="-0.003925" ixz="0.010254" iyy="0.02811" iyz="0.000704" izz="0.025995"></inertia>
+		</inertial>
+	</link>
+	<link name="panda_link3">
+		<visual>
+			<geometry>
+				<mesh filename="franka_description/meshes/visual/link3.dae"></mesh>
+			</geometry>
+		</visual>
+		<collision>
+			<geometry>
+				<sphere radius="0.084565"></sphere>
+			</geometry>
+			<origin xyz="0.07038373313939572 0.038575908588051794 -0.01422854923415184" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.081753"></sphere>
+			</geometry>
+			<origin xyz="0.005515733139395712 0.003120908588051797 -0.06724954923415184" rpy="0 0 0"></origin>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="2.7518e-02 3.9252e-02 -6.6502e-02"></origin>
+			<mass value="3.228604"></mass>
+			<inertia ixx="0.037242" ixy="-0.004761" ixz="-0.011396" iyy="0.036155" iyz="-0.012805" izz="0.01083"></inertia>
+		</inertial>
+	</link>
+	<link name="panda_link4">
+		<visual>
+			<geometry>
+				<mesh filename="franka_description/meshes/visual/link4.dae"></mesh>
+			</geometry>
+		</visual>
+		<collision>
+			<geometry>
+				<sphere radius="0.083165"></sphere>
+			</geometry>
+			<origin xyz="-0.07579066810381413 0.06943287985908986 0.0036627439314126965" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.084983"></sphere>
+			</geometry>
+			<origin xyz="-0.013342668103814126 0.011239879859089853 0.0367247439314127" rpy="0 0 0"></origin>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="-5.317e-02 1.04419e-01 2.7454e-02"></origin>
+			<mass value="3.587895"></mass>
+			<inertia ixx="0.025853" ixy="0.007796" ixz="-0.001332" iyy="0.019552" iyz="0.008641" izz="0.028323"></inertia>
+		</inertial>
+	</link>
+	<link name="panda_link5">
+		<visual>
+			<geometry>
+				<mesh filename="franka_description/meshes/visual/link5.dae"></mesh>
+			</geometry>
+		</visual>
+		<collision>
+			<geometry>
+				<sphere radius="0.07799"></sphere>
+			</geometry>
+			<origin xyz="9.441931009292602e-06 0.0039791757259368885 -0.20816402466511727" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.077391"></sphere>
+			</geometry>
+			<origin xyz="4.14419310092926e-05 0.039383175725936886 -0.14107102466511726" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.076558"></sphere>
+			</geometry>
+			<origin xyz="4.34419310092926e-05 0.04415417572593689 -0.06345502466511727" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.071983"></sphere>
+			</geometry>
+			<origin xyz="6.54419310092926e-05 0.06623817572593689 -0.003236024665117257" rpy="0 0 0"></origin>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="-1.1953e-02 4.1065e-02 -3.8437e-02"></origin>
+			<mass value="1.225946"></mass>
+			<inertia ixx="0.035549" ixy="-0.002117" ixz="-0.004037" iyy="0.029474" iyz="0.000229" izz="0.008627"></inertia>
+		</inertial>
+	</link>
+	<link name="panda_link6">
+		<visual>
+			<geometry>
+				<mesh filename="franka_description/meshes/visual/link6.dae"></mesh>
+			</geometry>
+		</visual>
+		<collision>
+			<geometry>
+				<sphere radius="0.099253"></sphere>
+			</geometry>
+			<origin xyz="0.04832931056606769 0.00040021078968048053 0.00887578661584854" rpy="0 0 0"></origin>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="6.0149e-02 -1.4117e-02 -1.0517e-02"></origin>
+			<mass value="1.666555"></mass>
+			<inertia ixx="0.001964" ixy="0.000109" ixz="-0.001158" iyy="0.004354" iyz="0.000341" izz="0.005433"></inertia>
+		</inertial>
+	</link>
+	<link name="panda_link7">
+		<visual>
+			<geometry>
+				<mesh filename="franka_description/meshes/visual/link7.dae"></mesh>
+			</geometry>
+		</visual>
+		<collision>
+			<geometry>
+				<sphere radius="0.054007"></sphere>
+			</geometry>
+			<origin xyz="-0.00016322969400882695 -0.0007641521297693243 0.07940087966275215" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.04804"></sphere>
+			</geometry>
+			<origin xyz="0.034025770305991174 0.034175847870230674 0.08081187966275215" rpy="0 0 0"></origin>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="1.0517e-02 -4.252e-03 6.1597e-02"></origin>
+			<mass value="0.735522"></mass>
+			<inertia ixx="0.012516" ixy="-0.000428" ixz="-0.001196" iyy="0.010027" iyz="-0.000741" izz="0.004815"></inertia>
+		</inertial>
+	</link>
+	<link name="panda_link8"></link>
+	<link name="panda_hand">
+		<visual>
+			<geometry>
+				<mesh filename="franka_description/meshes/visual/hand.dae"></mesh>
+			</geometry>
+		</visual>
+		<collision>
+			<geometry>
+				<sphere radius="0.044394"></sphere>
+			</geometry>
+			<origin xyz="9.193240296840668e-05 0.07441707816624642 0.027520674433231355" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.048978"></sphere>
+			</geometry>
+			<origin xyz="2.5932402968406678e-05 0.033791078166246415 0.023450674433231355" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.050352"></sphere>
+			</geometry>
+			<origin xyz="1.9324029684066776e-06 -0.0068179218337535855 0.020964674433231353" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.044425"></sphere>
+			</geometry>
+			<origin xyz="7.293240296840668e-05 -0.06114992183375358 0.039945674433231354" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.043995"></sphere>
+			</geometry>
+			<origin xyz="1.6932402968406676e-05 -0.06272592183375358 0.006249674433231354" rpy="0 0 0"></origin>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="-0.01 0 0.03"></origin>
+			<mass value="0.73"></mass>
+			<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0025" iyz="0" izz="0.0017"></inertia>
+		</inertial>
+	</link>
+	<link name="panda_hand_tcp"></link>
+	<link name="panda_leftfinger">
+		<visual>
+			<geometry>
+				<mesh filename="franka_description/meshes/visual/finger.dae"></mesh>
+			</geometry>
+		</visual>
+		<collision>
+			<geometry>
+				<sphere radius="0.014578"></sphere>
+			</geometry>
+			<origin xyz="-0.0035 0.0185 0.011" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.014577"></sphere>
+			</geometry>
+			<origin xyz="0.003501 0.0185 0.011" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.00429"></sphere>
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+			<origin xyz="0.007892 0.004664 0.0022" rpy="0 0 0"></origin>
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+			<origin xyz="0.007396 0.009148 0.0022" rpy="0 0 0"></origin>
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+		<collision>
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+			<origin xyz="-0.000175 0.008893999999999999 0.0022" rpy="0 0 0"></origin>
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+			<origin xyz="-2e-05 0.012332000000000001 0.034529" rpy="0 0 0"></origin>
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+		<collision>
+			<geometry>
+				<sphere radius="0.009011"></sphere>
+			</geometry>
+			<origin xyz="-0.004248 0.018286 0.024216" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.009433"></sphere>
+			</geometry>
+			<origin xyz="0.004691 0.017903000000000002 0.024881" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.014829"></sphere>
+			</geometry>
+			<origin xyz="0.0 0.00758 0.04525" rpy="0 0 0"></origin>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 0"></origin>
+			<mass value="0.015"></mass>
+			<inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"></inertia>
+		</inertial>
+	</link>
+	<link name="panda_rightfinger">
+		<visual>
+			<origin rpy="0 0 3.141592653589793" xyz="0 0 0"></origin>
+			<geometry>
+				<mesh filename="franka_description/meshes/visual/finger.dae"></mesh>
+			</geometry>
+		</visual>
+		<collision>
+			<geometry>
+				<sphere radius="0.014578"></sphere>
+			</geometry>
+			<origin xyz="-0.0035 -0.0185 0.011" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.014577"></sphere>
+			</geometry>
+			<origin xyz="0.003501 -0.0185 0.011" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.00429"></sphere>
+			</geometry>
+			<origin xyz="0.007892 -0.008936 0.0022" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.004564"></sphere>
+			</geometry>
+			<origin xyz="0.007396 -0.004451999999999999 0.0022" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.00487"></sphere>
+			</geometry>
+			<origin xyz="0.000716 -0.0093 0.0022" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.004752"></sphere>
+			</geometry>
+			<origin xyz="-0.000175 -0.004706 0.0022" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.004695"></sphere>
+			</geometry>
+			<origin xyz="-0.007202 -0.009217 0.0022" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.004571"></sphere>
+			</geometry>
+			<origin xyz="-0.007549 -0.004699999999999999 0.0022" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.015063"></sphere>
+			</geometry>
+			<origin xyz="0.0 -0.0159 0.02835" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.014829"></sphere>
+			</geometry>
+			<origin xyz="0.0 -0.00758 0.04525" rpy="0 0 0"></origin>
+		</collision>
+		<inertial>
+			<origin rpy="0 0 0" xyz="0 0 0"></origin>
+			<mass value="0.015"></mass>
+			<inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"></inertia>
+		</inertial>
+	</link>
+	<link name="camera_base_link"></link>
+	<link name="camera_link">
+		<visual>
+			<origin rpy="0 0 0" xyz="0 -0.02 0"></origin>
+			<geometry>
+				<box size="0.02005 0.099 0.023"></box>
+			</geometry>
+		</visual>
+		<collision>
+			<geometry>
+				<sphere radius="0.015709"></sphere>
+			</geometry>
+			<origin xyz="0.0 0.020947999999999994 0.002948" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.017363"></sphere>
+			</geometry>
+			<origin xyz="0.0 0.019475999999999993 -0.001476" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.017331"></sphere>
+			</geometry>
+			<origin xyz="0.0 0.0016589999999999973 0.00094" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.017269"></sphere>
+			</geometry>
+			<origin xyz="0.0 -0.015049000000000003 -0.00116" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.017025"></sphere>
+			</geometry>
+			<origin xyz="0.0 -0.031233000000000004 0.000864" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.016741"></sphere>
+			</geometry>
+			<origin xyz="0.0 -0.045335 -0.000785" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.015902"></sphere>
+			</geometry>
+			<origin xyz="0.0 -0.06077200000000001 0.002772" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.014585"></sphere>
+			</geometry>
+			<origin xyz="0.0 -0.062009 -0.004009" rpy="0 0 0"></origin>
+		</collision>
+		<inertial>
+			<mass value="0.564"></mass>
+			<origin xyz="0 0 0"></origin>
+			<inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"></inertia>
+		</inertial>
+	</link>
+	<joint name="panda_joint1" type="revolute">
+		<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"></safety_controller>
+		<origin rpy="0 0 0" xyz="0 0 0.333"></origin>
+		<parent link="panda_link0"></parent>
+		<child link="panda_link1"></child>
+		<axis xyz="0 0 1"></axis>
+		<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"></limit>
+		<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"></dynamics>
+	</joint>
+	<joint name="panda_joint2" type="revolute">
+		<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"></safety_controller>
+		<origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"></origin>
+		<parent link="panda_link1"></parent>
+		<child link="panda_link2"></child>
+		<axis xyz="0 0 1"></axis>
+		<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"></limit>
+		<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"></dynamics>
+	</joint>
+	<joint name="panda_joint3" type="revolute">
+		<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"></safety_controller>
+		<origin rpy="1.5707963267948966 0 0" xyz="0 -0.316 0"></origin>
+		<parent link="panda_link2"></parent>
+		<child link="panda_link3"></child>
+		<axis xyz="0 0 1"></axis>
+		<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"></limit>
+		<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"></dynamics>
+	</joint>
+	<joint name="panda_joint4" type="revolute">
+		<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"></safety_controller>
+		<origin rpy="1.5707963267948966 0 0" xyz="0.0825 0 0"></origin>
+		<parent link="panda_link3"></parent>
+		<child link="panda_link4"></child>
+		<axis xyz="0 0 1"></axis>
+		<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"></limit>
+		<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"></dynamics>
+	</joint>
+	<joint name="panda_joint5" type="revolute">
+		<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"></safety_controller>
+		<origin rpy="-1.5707963267948966 0 0" xyz="-0.0825 0.384 0"></origin>
+		<parent link="panda_link4"></parent>
+		<child link="panda_link5"></child>
+		<axis xyz="0 0 1"></axis>
+		<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"></limit>
+		<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"></dynamics>
+	</joint>
+	<joint name="panda_joint6" type="revolute">
+		<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"></safety_controller>
+		<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"></origin>
+		<parent link="panda_link5"></parent>
+		<child link="panda_link6"></child>
+		<axis xyz="0 0 1"></axis>
+		<limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"></limit>
+		<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"></dynamics>
+	</joint>
+	<joint name="panda_joint7" type="revolute">
+		<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"></safety_controller>
+		<origin rpy="1.5707963267948966 0 0" xyz="0.088 0 0"></origin>
+		<parent link="panda_link6"></parent>
+		<child link="panda_link7"></child>
+		<axis xyz="0 0 1"></axis>
+		<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"></limit>
+		<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"></dynamics>
+	</joint>
+	<joint name="panda_joint8" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0.107"></origin>
+		<parent link="panda_link7"></parent>
+		<child link="panda_link8"></child>
+	</joint>
+	<joint name="panda_hand_joint" type="fixed">
+		<parent link="panda_link8"></parent>
+		<child link="panda_hand"></child>
+		<origin rpy="0 0 -0.7853981633974483" xyz="0 0 0"></origin>
+	</joint>
+	<joint name="panda_hand_tcp_joint" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0 0.1034"></origin>
+		<parent link="panda_hand"></parent>
+		<child link="panda_hand_tcp"></child>
+	</joint>
+	<joint name="panda_finger_joint1" type="prismatic">
+		<parent link="panda_hand"></parent>
+		<child link="panda_leftfinger"></child>
+		<origin rpy="0 0 0" xyz="0 0 0.0584"></origin>
+		<axis xyz="0 1 0"></axis>
+		<limit effort="100" lower="0.0" upper="0.04" velocity="0.2"></limit>
+		<dynamics damping="0.3"></dynamics>
+	</joint>
+	<joint name="panda_finger_joint2" type="prismatic">
+		<parent link="panda_hand"></parent>
+		<child link="panda_rightfinger"></child>
+		<origin rpy="0 0 0" xyz="0 0 0.0584"></origin>
+		<axis xyz="0 -1 0"></axis>
+		<limit effort="100" lower="0.0" upper="0.04" velocity="0.2"></limit>
+		<mimic joint="panda_finger_joint1"></mimic>
+		<dynamics damping="0.3"></dynamics>
+	</joint>
+	<joint name="realsense_joint" type="fixed">
+		<origin rpy="0 -1.5707 3.1415" xyz="0.035 0 0.036"></origin>
+		<parent link="panda_hand"></parent>
+		<child link="camera_base_link"></child>
+	</joint>
+	<joint name="camera_link_joint" type="fixed">
+		<origin rpy="0 0 0" xyz="0 0.02 0.0115"></origin>
+		<parent link="camera_base_link"></parent>
+		<child link="camera_link"></child>
+	</joint>
+</robot>

msx_assets/robot/panda_v2.srdf ADDED Viewed

	@@ -0,0 +1,77 @@

+<?xml version="1.0" ?>
+<robot name="panda">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--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-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="panda_arm">
+    <joint name="virtual_joint"/>
+    <joint name="panda_joint1"/>
+    <joint name="panda_joint2"/>
+    <joint name="panda_joint3"/>
+    <joint name="panda_joint4"/>
+    <joint name="panda_joint5"/>
+    <joint name="panda_joint6"/>
+    <joint name="panda_joint7"/>
+    <joint name="panda_joint8"/>
+    <joint name="panda_hand_joint"/>
+    </group>
+    <group name="hand">
+    <link name="panda_hand"/>
+    <link name="panda_leftfinger"/>
+    <link name="panda_rightfinger"/>
+    </group>
+    <!--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'-->
+    <group_state name="home" group="panda_arm">
+    <joint name="panda_joint1" value="0"/>
+    <joint name="panda_joint2" value="0"/>
+    <joint name="panda_joint3" value="0"/>
+    <joint name="panda_joint4" value="0"/>
+    <joint name="panda_joint5" value="0"/>
+    <joint name="panda_joint6" value="3.1416"/>
+    <joint name="panda_joint7" value="1.5708"/>
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="eef" parent_link="panda_link8" group="hand"/>
+    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
+    <virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="panda_link0"/>
+    <!--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. -->
+    <disable_collisions link1="panda_hand" link2="panda_leftfinger" reason="Adjacent"/>
+    <disable_collisions link1="panda_hand" link2="panda_link3" reason="Never"/>
+    <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never"/>
+    <disable_collisions link1="panda_hand" link2="panda_link5" reason="Default"/>
+    <disable_collisions link1="panda_hand" link2="panda_link6" reason="Never"/>
+    <disable_collisions link1="panda_hand" link2="panda_link7" reason="Default"/>
+    <disable_collisions link1="panda_hand" link2="panda_rightfinger" reason="Adjacent"/>
+    <disable_collisions link1="panda_leftfinger" link2="panda_link3" reason="Never"/>
+    <disable_collisions link1="panda_leftfinger" link2="panda_link4" reason="Never"/>
+    <disable_collisions link1="panda_leftfinger" link2="panda_link6" reason="Never"/>
+    <disable_collisions link1="panda_leftfinger" link2="panda_link7" reason="Never"/>
+    <disable_collisions link1="panda_leftfinger" link2="panda_rightfinger" reason="Default"/>
+    <disable_collisions link1="panda_link0" link2="panda_link1" reason="Adjacent"/>
+    <disable_collisions link1="panda_link0" link2="panda_link2" reason="Never"/>
+    <disable_collisions link1="panda_link0" link2="panda_link3" reason="Never"/>
+    <disable_collisions link1="panda_link0" link2="panda_link4" reason="Never"/>
+    <disable_collisions link1="panda_link1" link2="panda_link2" reason="Adjacent"/>
+    <disable_collisions link1="panda_link1" link2="panda_link3" reason="Never"/>
+    <disable_collisions link1="panda_link1" link2="panda_link4" reason="Never"/>
+    <disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent"/>
+    <disable_collisions link1="panda_link2" link2="panda_link4" reason="Never"/>
+    <disable_collisions link1="panda_link2" link2="panda_link6" reason="Never"/>
+    <disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent"/>
+    <disable_collisions link1="panda_link3" link2="panda_link5" reason="Never"/>
+    <disable_collisions link1="panda_link3" link2="panda_link6" reason="Never"/>
+    <disable_collisions link1="panda_link3" link2="panda_link7" reason="Never"/>
+    <disable_collisions link1="panda_link3" link2="panda_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_link4" link2="panda_link5" reason="Adjacent"/>
+    <disable_collisions link1="panda_link4" link2="panda_link6" reason="Never"/>
+    <disable_collisions link1="panda_link4" link2="panda_link7" reason="Never"/>
+    <disable_collisions link1="panda_link4" link2="panda_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent"/>
+    <disable_collisions link1="panda_link5" link2="panda_link7" reason="Default"/>
+    <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent"/>
+    <disable_collisions link1="panda_link6" link2="panda_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_link7" link2="panda_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_link7" link2="panda_hand" reason="Default"/>
+</robot>

msx_assets/robot/panda_v2.urdf ADDED Viewed

	@@ -0,0 +1,339 @@

+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from panda_arm.urdf.xacro           | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="panda">
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link0.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link0.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.041018 -0.00014 0.049974"/>
+      <mass value="0.629769"/>
+      <inertia ixx="0.00315" ixy="8.2904e-07" ixz="0.00015" iyy="0.00388" iyz="8.2299e-06" izz="0.004285"/>
+    </inertial>
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.003875 0.002081 -0.04762"/>
+      <mass value="4.970684"/>
+      <inertia ixx="0.70337" ixy="-0.000139" ixz="0.006772" iyy="0.70661" iyz="0.019169" izz="0.009117"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link2">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003141 -0.02872  0.003495"/>
+      <mass value="0.646926"/>
+      <inertia ixx="0.007962" ixy="-0.003925" ixz="0.010254" iyy="0.02811" iyz="0.000704" izz="0.025995"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link3">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link3.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.7518e-02 3.9252e-02 -6.6502e-02"/>
+      <mass value="3.228604"/>
+      <inertia ixx="0.037242" ixy="-0.004761" ixz="-0.011396" iyy="0.036155" iyz="-0.012805" izz="0.01083"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link4">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link4.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link4.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-5.317e-02 1.04419e-01 2.7454e-02"/>
+      <mass value="3.587895"/>
+      <inertia ixx="0.025853" ixy="0.007796" ixz="-0.001332" iyy="0.019552" iyz="0.008641" izz="0.028323"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link5">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link5.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link5.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-1.1953e-02 4.1065e-02 -3.8437e-02"/>
+      <mass value="1.225946"/>
+      <inertia ixx="0.035549" ixy="-0.002117" ixz="-0.004037" iyy="0.029474" iyz="0.000229" izz="0.008627"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="-1.5707963267948966 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link6">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link6.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link6.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="6.0149e-02 -1.4117e-02 -1.0517e-02"/>
+      <mass value="1.666555"/>
+      <inertia ixx="0.001964" ixy="0.000109" ixz="-0.001158" iyy="0.004354" iyz="0.000341" izz="0.005433"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link7">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link7.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link7.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="1.0517e-02 -4.252e-03 6.1597e-02"/>
+      <mass value="0.735522"/>
+      <inertia ixx="0.012516" ixy="-0.000428" ixz="-0.001196" iyy="0.010027" iyz="-0.000741" izz="0.004815"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link8"/>
+  <joint name="panda_joint8" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.107"/>
+    <parent link="panda_link7"/>
+    <child link="panda_link8"/>
+  </joint>
+  <joint name="panda_hand_joint" type="fixed">
+    <parent link="panda_link8"/>
+    <child link="panda_hand"/>
+    <origin rpy="0 0 -0.7853981633974483" xyz="0 0 0"/>
+  </joint>
+  <link name="panda_hand">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/hand.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/hand.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01 0 0.03"/>
+      <mass value="0.73"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0025" iyz="0" izz="0.0017"/>
+    </inertial>
+  </link>
+  <!-- Define the hand_tcp frame -->
+  <link name="panda_hand_tcp"/>
+  <joint name="panda_hand_tcp_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.1034"/>
+    <parent link="panda_hand"/>
+    <child link="panda_hand_tcp"/>
+  </joint>
+  <link name="panda_leftfinger">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/finger.dae"/>
+      </geometry>
+    </visual>
+    <!-- screw mount -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 18.5e-3 11e-3"/>
+      <geometry>
+        <box size="22e-3 15e-3 20e-3"/>
+      </geometry>
+    </collision>
+    <!-- cartriage sledge -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 6.8e-3 2.2e-3"/>
+      <geometry>
+        <box size="22e-3 8.8e-3 3.8e-3"/>
+      </geometry>
+    </collision>
+    <!-- diagonal finger -->
+    <collision>
+      <origin rpy="0.5235987755982988 0 0" xyz="0 15.9e-3 28.35e-3"/>
+      <geometry>
+        <box size="17.5e-3 7e-3 23.5e-3"/>
+      </geometry>
+    </collision>
+    <!-- rubber tip with which to grasp -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 7.58e-3 45.25e-3"/>
+      <geometry>
+        <box size="17.5e-3 15.2e-3 18.5e-3"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.015"/>
+      <inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"/>
+    </inertial>
+  </link>
+  <link name="panda_rightfinger">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/finger.dae"/>
+      </geometry>
+    </visual>
+    <!-- screw mount -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -18.5e-3 11e-3"/>
+      <geometry>
+        <box size="22e-3 15e-3 20e-3"/>
+      </geometry>
+    </collision>
+    <!-- cartriage sledge -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -6.8e-3 2.2e-3"/>
+      <geometry>
+        <box size="22e-3 8.8e-3 3.8e-3"/>
+      </geometry>
+    </collision>
+    <!-- diagonal finger -->
+    <collision>
+      <origin rpy="-0.5235987755982988 0 0" xyz="0 -15.9e-3 28.35e-3"/>
+      <geometry>
+        <box size="17.5e-3 7e-3 23.5e-3"/>
+      </geometry>
+    </collision>
+    <!-- rubber tip with which to grasp -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -7.58e-3 45.25e-3"/>
+      <geometry>
+        <box size="17.5e-3 15.2e-3 18.5e-3"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.015"/>
+      <inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"/>
+    </inertial>
+  </link>
+  <joint name="panda_finger_joint1" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_leftfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
+    <dynamics damping="0.3"/>
+  </joint>
+  <joint name="panda_finger_joint2" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_rightfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
+    <mimic joint="panda_finger_joint1"/>
+    <dynamics damping="0.3"/>
+  </joint>
+</robot>

msx_assets/robot/panda_v2_sphere.urdf ADDED Viewed

	@@ -0,0 +1,451 @@

+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from panda_arm.urdf.xacro           | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="panda">
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link0.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+			<geometry>
+				<sphere radius="0.118443"></sphere>
+			</geometry>
+			<origin xyz="-0.013302850344896318 -1.7654266119003296e-05 0.06998816952080536" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.094468"></sphere>
+			</geometry>
+			<origin xyz="-0.08469985034489633 -6.542661190032961e-07 0.04372716952080535" rpy="0 0 0"></origin>
+		</collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.041018 -0.00014 0.049974"/>
+      <mass value="0.629769"/>
+      <inertia ixx="0.00315" ixy="8.2904e-07" ixz="0.00015" iyy="0.00388" iyz="8.2299e-06" izz="0.004285"/>
+    </inertial>
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+			<geometry>
+				<sphere radius="0.088921"></sphere>
+			</geometry>
+			<origin xyz="2.117776274681085e-06 -0.048460439349412916 -0.01970848887789249" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.092445"></sphere>
+			</geometry>
+			<origin xyz="7.811777627468109e-05 -0.004169439349412919 -0.1211374888778925" rpy="0 0 0"></origin>
+		</collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.003875 0.002081 -0.04762"/>
+      <mass value="4.970684"/>
+      <inertia ixx="0.70337" ixy="-0.000139" ixz="0.006772" iyy="0.70661" iyz="0.019169" izz="0.009117"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link2">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+			<geometry>
+				<sphere radius="0.080952"></sphere>
+			</geometry>
+			<origin xyz="-6.325302803516388e-05 -0.1374107672843933 0.0027253661164045317" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.083055"></sphere>
+			</geometry>
+			<origin xyz="7.469719648361267e-07 -0.05252276728439331 0.041859366116404534" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.077314"></sphere>
+			</geometry>
+			<origin xyz="2.4746971964836127e-05 -0.0018717672843933109 0.052315366116404534" rpy="0 0 0"></origin>
+		</collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003141 -0.02872  0.003495"/>
+      <mass value="0.646926"/>
+      <inertia ixx="0.007962" ixy="-0.003925" ixz="0.010254" iyy="0.02811" iyz="0.000704" izz="0.025995"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link3">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link3.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+			<geometry>
+				<sphere radius="0.084565"></sphere>
+			</geometry>
+			<origin xyz="0.07038373313939572 0.038575908588051794 -0.01422854923415184" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.081753"></sphere>
+			</geometry>
+			<origin xyz="0.005515733139395712 0.003120908588051797 -0.06724954923415184" rpy="0 0 0"></origin>
+		</collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.7518e-02 3.9252e-02 -6.6502e-02"/>
+      <mass value="3.228604"/>
+      <inertia ixx="0.037242" ixy="-0.004761" ixz="-0.011396" iyy="0.036155" iyz="-0.012805" izz="0.01083"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link4">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link4.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+			<geometry>
+				<sphere radius="0.083165"></sphere>
+			</geometry>
+			<origin xyz="-0.07579066810381413 0.06943287985908986 0.0036627439314126965" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.084983"></sphere>
+			</geometry>
+			<origin xyz="-0.013342668103814126 0.011239879859089853 0.0367247439314127" rpy="0 0 0"></origin>
+		</collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-5.317e-02 1.04419e-01 2.7454e-02"/>
+      <mass value="3.587895"/>
+      <inertia ixx="0.025853" ixy="0.007796" ixz="-0.001332" iyy="0.019552" iyz="0.008641" izz="0.028323"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link5">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link5.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+			<geometry>
+				<sphere radius="0.07799"></sphere>
+			</geometry>
+			<origin xyz="9.441931009292602e-06 0.0039791757259368885 -0.20816402466511727" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.077391"></sphere>
+			</geometry>
+			<origin xyz="4.14419310092926e-05 0.039383175725936886 -0.14107102466511726" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.076558"></sphere>
+			</geometry>
+			<origin xyz="4.34419310092926e-05 0.04415417572593689 -0.06345502466511727" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.071983"></sphere>
+			</geometry>
+			<origin xyz="6.54419310092926e-05 0.06623817572593689 -0.003236024665117257" rpy="0 0 0"></origin>
+		</collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-1.1953e-02 4.1065e-02 -3.8437e-02"/>
+      <mass value="1.225946"/>
+      <inertia ixx="0.035549" ixy="-0.002117" ixz="-0.004037" iyy="0.029474" iyz="0.000229" izz="0.008627"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="-1.5707963267948966 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link6">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link6.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+			<geometry>
+				<sphere radius="0.045"></sphere>
+			</geometry>
+			<origin xyz="0.085 0.035 0.0" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.045"></sphere>
+			</geometry>
+			<origin xyz="0.085 0.0 0.0" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.045"></sphere>
+			</geometry>
+			<origin xyz="0.085 -0.015 0.0" rpy="0 0 0"></origin>
+		</collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="6.0149e-02 -1.4117e-02 -1.0517e-02"/>
+      <mass value="1.666555"/>
+      <inertia ixx="0.001964" ixy="0.000109" ixz="-0.001158" iyy="0.004354" iyz="0.000341" izz="0.005433"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link7">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link7.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+			<geometry>
+				<sphere radius="0.054007"></sphere>
+			</geometry>
+			<origin xyz="-0.00016322969400882695 -0.0007641521297693243 0.07940087966275215" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.04804"></sphere>
+			</geometry>
+			<origin xyz="0.034025770305991174 0.034175847870230674 0.08081187966275215" rpy="0 0 0"></origin>
+		</collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="1.0517e-02 -4.252e-03 6.1597e-02"/>
+      <mass value="0.735522"/>
+      <inertia ixx="0.012516" ixy="-0.000428" ixz="-0.001196" iyy="0.010027" iyz="-0.000741" izz="0.004815"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link8"/>
+  <joint name="panda_joint8" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.107"/>
+    <parent link="panda_link7"/>
+    <child link="panda_link8"/>
+  </joint>
+  <joint name="panda_hand_joint" type="fixed">
+    <parent link="panda_link8"/>
+    <child link="panda_hand"/>
+    <origin rpy="0 0 -0.7853981633974483" xyz="0 0 0"/>
+  </joint>
+  <link name="panda_hand">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/hand.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+			<geometry>
+				<sphere radius="0.044394"></sphere>
+			</geometry>
+			<origin xyz="9.193240296840668e-05 0.07441707816624642 0.027520674433231355" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.048978"></sphere>
+			</geometry>
+			<origin xyz="2.5932402968406678e-05 0.033791078166246415 0.023450674433231355" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.050352"></sphere>
+			</geometry>
+			<origin xyz="1.9324029684066776e-06 -0.0068179218337535855 0.020964674433231353" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.044425"></sphere>
+			</geometry>
+			<origin xyz="7.293240296840668e-05 -0.06114992183375358 0.039945674433231354" rpy="0 0 0"></origin>
+		</collision>
+		<collision>
+			<geometry>
+				<sphere radius="0.043995"></sphere>
+			</geometry>
+			<origin xyz="1.6932402968406676e-05 -0.06272592183375358 0.006249674433231354" rpy="0 0 0"></origin>
+		</collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01 0 0.03"/>
+      <mass value="0.73"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0025" iyz="0" izz="0.0017"/>
+    </inertial>
+  </link>
+  <!-- Define the hand_tcp frame -->
+  <link name="panda_hand_tcp"/>
+  <joint name="panda_hand_tcp_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.1034"/>
+    <parent link="panda_hand"/>
+    <child link="panda_hand_tcp"/>
+  </joint>
+  <link name="panda_leftfinger">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/finger.dae"/>
+      </geometry>
+    </visual>
+    <!-- screw mount -->
+    <collision>
+        <geometry>
+            <sphere radius="0.011"></sphere>
+        </geometry>
+        <origin xyz="0.0 0.01 0.043" rpy="0 0 0"></origin>
+    </collision>
+    <collision>
+        <geometry>
+            <sphere radius="0.011"></sphere>
+        </geometry>
+        <origin xyz="0.0 0.02 0.015" rpy="0 0 0"></origin>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.015"/>
+      <inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"/>
+    </inertial>
+  </link>
+  <link name="panda_rightfinger">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/finger.dae"/>
+      </geometry>
+    </visual>
+    <!-- screw mount -->
+    <collision>
+        <geometry>
+            <sphere radius="0.011"></sphere>
+        </geometry>
+        <origin xyz="0.0 -0.01 0.043" rpy="0 0 0"></origin>
+    </collision>
+    <collision>
+        <geometry>
+            <sphere radius="0.011"></sphere>
+        </geometry>
+        <origin xyz="0.0 -0.02 0.015" rpy="0 0 0"></origin>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.015"/>
+      <inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"/>
+    </inertial>
+  </link>
+  <joint name="panda_finger_joint1" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_leftfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
+    <dynamics damping="0.3"/>
+  </joint>
+  <joint name="panda_finger_joint2" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_rightfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
+    <mimic joint="panda_finger_joint1"/>
+    <dynamics damping="0.3"/>
+  </joint>
+  <!--  camera mount-->
+  <joint name="realsense_joint" type="fixed">
+    <origin rpy="0 -1.5707 3.1415" xyz="0.035 0 0.036"/>
+    <parent link="panda_hand"/>
+    <child link="camera_base_link"/>
+  </joint>
+  <link name="camera_base_link"/>
+  <joint name="camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.02 0.0115"/>
+    <parent link="camera_base_link"/>
+    <child link="camera_link"/>
+  </joint>
+  <link name="camera_link">
+    <!-- <visual>
+      <origin rpy="1.57079632679 0 1.57079632679" xyz="0.00987 -0.02 0"/>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/d435.dae" />
+      </geometry>
+    </visual> -->
+    <visual>
+      <origin rpy="0 0 0" xyz="0 -0.02 0"/>
+      <geometry>
+        <box size="0.02005 0.099 0.023"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.02 0"/>
+      <geometry>
+        <box size="0.02005 0.099 0.023"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.564"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+</robot>

msx_assets/robot/panda_v3.srdf ADDED Viewed

	@@ -0,0 +1,77 @@

+<?xml version="1.0" ?>
+<robot name="panda">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--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-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="panda_arm">
+    <joint name="virtual_joint"/>
+    <joint name="panda_joint1"/>
+    <joint name="panda_joint2"/>
+    <joint name="panda_joint3"/>
+    <joint name="panda_joint4"/>
+    <joint name="panda_joint5"/>
+    <joint name="panda_joint6"/>
+    <joint name="panda_joint7"/>
+    <joint name="panda_joint8"/>
+    <joint name="panda_hand_joint"/>
+    </group>
+    <group name="hand">
+    <link name="panda_hand"/>
+    <link name="panda_leftfinger"/>
+    <link name="panda_rightfinger"/>
+    </group>
+    <!--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'-->
+    <group_state name="home" group="panda_arm">
+    <joint name="panda_joint1" value="0"/>
+    <joint name="panda_joint2" value="0"/>
+    <joint name="panda_joint3" value="0"/>
+    <joint name="panda_joint4" value="0"/>
+    <joint name="panda_joint5" value="0"/>
+    <joint name="panda_joint6" value="3.1416"/>
+    <joint name="panda_joint7" value="1.5708"/>
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="eef" parent_link="panda_link8" group="hand"/>
+    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
+    <virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="panda_link0"/>
+    <!--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. -->
+    <disable_collisions link1="panda_hand" link2="panda_leftfinger" reason="Adjacent"/>
+    <disable_collisions link1="panda_hand" link2="panda_link3" reason="Never"/>
+    <disable_collisions link1="panda_hand" link2="panda_link4" reason="Never"/>
+    <disable_collisions link1="panda_hand" link2="panda_link5" reason="Default"/>
+    <disable_collisions link1="panda_hand" link2="panda_link6" reason="Never"/>
+    <disable_collisions link1="panda_hand" link2="panda_link7" reason="Default"/>
+    <disable_collisions link1="panda_hand" link2="panda_rightfinger" reason="Adjacent"/>
+    <disable_collisions link1="panda_leftfinger" link2="panda_link3" reason="Never"/>
+    <disable_collisions link1="panda_leftfinger" link2="panda_link4" reason="Never"/>
+    <disable_collisions link1="panda_leftfinger" link2="panda_link6" reason="Never"/>
+    <disable_collisions link1="panda_leftfinger" link2="panda_link7" reason="Never"/>
+    <disable_collisions link1="panda_leftfinger" link2="panda_rightfinger" reason="Default"/>
+    <disable_collisions link1="panda_link0" link2="panda_link1" reason="Adjacent"/>
+    <disable_collisions link1="panda_link0" link2="panda_link2" reason="Never"/>
+    <disable_collisions link1="panda_link0" link2="panda_link3" reason="Never"/>
+    <disable_collisions link1="panda_link0" link2="panda_link4" reason="Never"/>
+    <disable_collisions link1="panda_link1" link2="panda_link2" reason="Adjacent"/>
+    <disable_collisions link1="panda_link1" link2="panda_link3" reason="Never"/>
+    <disable_collisions link1="panda_link1" link2="panda_link4" reason="Never"/>
+    <disable_collisions link1="panda_link2" link2="panda_link3" reason="Adjacent"/>
+    <disable_collisions link1="panda_link2" link2="panda_link4" reason="Never"/>
+    <disable_collisions link1="panda_link2" link2="panda_link6" reason="Never"/>
+    <disable_collisions link1="panda_link3" link2="panda_link4" reason="Adjacent"/>
+    <disable_collisions link1="panda_link3" link2="panda_link5" reason="Never"/>
+    <disable_collisions link1="panda_link3" link2="panda_link6" reason="Never"/>
+    <disable_collisions link1="panda_link3" link2="panda_link7" reason="Never"/>
+    <disable_collisions link1="panda_link3" link2="panda_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_link4" link2="panda_link5" reason="Adjacent"/>
+    <disable_collisions link1="panda_link4" link2="panda_link6" reason="Never"/>
+    <disable_collisions link1="panda_link4" link2="panda_link7" reason="Never"/>
+    <disable_collisions link1="panda_link4" link2="panda_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_link5" link2="panda_link6" reason="Adjacent"/>
+    <disable_collisions link1="panda_link5" link2="panda_link7" reason="Default"/>
+    <disable_collisions link1="panda_link6" link2="panda_link7" reason="Adjacent"/>
+    <disable_collisions link1="panda_link6" link2="panda_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_link7" link2="panda_rightfinger" reason="Never"/>
+    <disable_collisions link1="panda_link7" link2="panda_hand" reason="Default"/>
+</robot>

msx_assets/robot/panda_v3.urdf ADDED Viewed

	@@ -0,0 +1,377 @@

+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from panda_arm.urdf.xacro           | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="panda">
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link0.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link0.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.041018 -0.00014 0.049974"/>
+      <mass value="0.629769"/>
+      <inertia ixx="0.00315" ixy="8.2904e-07" ixz="0.00015" iyy="0.00388" iyz="8.2299e-06" izz="0.004285"/>
+    </inertial>
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link1.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.003875 0.002081 -0.04762"/>
+      <mass value="4.970684"/>
+      <inertia ixx="0.70337" ixy="-0.000139" ixz="0.006772" iyy="0.70661" iyz="0.019169" izz="0.009117"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link2">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link2.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003141 -0.02872  0.003495"/>
+      <mass value="0.646926"/>
+      <inertia ixx="0.007962" ixy="-0.003925" ixz="0.010254" iyy="0.02811" iyz="0.000704" izz="0.025995"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link3">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link3.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link3.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.7518e-02 3.9252e-02 -6.6502e-02"/>
+      <mass value="3.228604"/>
+      <inertia ixx="0.037242" ixy="-0.004761" ixz="-0.011396" iyy="0.036155" iyz="-0.012805" izz="0.01083"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link4">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link4.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link4.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-5.317e-02 1.04419e-01 2.7454e-02"/>
+      <mass value="3.587895"/>
+      <inertia ixx="0.025853" ixy="0.007796" ixz="-0.001332" iyy="0.019552" iyz="0.008641" izz="0.028323"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link5">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link5.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link5.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-1.1953e-02 4.1065e-02 -3.8437e-02"/>
+      <mass value="1.225946"/>
+      <inertia ixx="0.035549" ixy="-0.002117" ixz="-0.004037" iyy="0.029474" iyz="0.000229" izz="0.008627"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="-1.5707963267948966 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link6">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link6.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link6.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="6.0149e-02 -1.4117e-02 -1.0517e-02"/>
+      <mass value="1.666555"/>
+      <inertia ixx="0.001964" ixy="0.000109" ixz="-0.001158" iyy="0.004354" iyz="0.000341" izz="0.005433"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link7">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/link7.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/link7.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="1.0517e-02 -4.252e-03 6.1597e-02"/>
+      <mass value="0.735522"/>
+      <inertia ixx="0.012516" ixy="-0.000428" ixz="-0.001196" iyy="0.010027" iyz="-0.000741" izz="0.004815"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.5707963267948966 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+    <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
+  </joint>
+  <link name="panda_link8"/>
+  <joint name="panda_joint8" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.107"/>
+    <parent link="panda_link7"/>
+    <child link="panda_link8"/>
+  </joint>
+  <joint name="panda_hand_joint" type="fixed">
+    <parent link="panda_link8"/>
+    <child link="panda_hand"/>
+    <origin rpy="0 0 -0.7853981633974483" xyz="0 0 0"/>
+  </joint>
+  <link name="panda_hand">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/hand.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="franka_description/meshes/collision/hand.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01 0 0.03"/>
+      <mass value="0.73"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0025" iyz="0" izz="0.0017"/>
+    </inertial>
+  </link>
+  <!-- Define the hand_tcp frame -->
+  <link name="panda_hand_tcp"/>
+  <joint name="panda_hand_tcp_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.1034"/>
+    <parent link="panda_hand"/>
+    <child link="panda_hand_tcp"/>
+  </joint>
+  <link name="panda_leftfinger">
+    <visual>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/finger.dae"/>
+      </geometry>
+    </visual>
+    <!-- screw mount -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 18.5e-3 11e-3"/>
+      <geometry>
+        <box size="22e-3 15e-3 20e-3"/>
+      </geometry>
+    </collision>
+    <!-- cartriage sledge -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 6.8e-3 2.2e-3"/>
+      <geometry>
+        <box size="22e-3 8.8e-3 3.8e-3"/>
+      </geometry>
+    </collision>
+    <!-- diagonal finger -->
+    <collision>
+      <origin rpy="0.5235987755982988 0 0" xyz="0 15.9e-3 28.35e-3"/>
+      <geometry>
+        <box size="17.5e-3 7e-3 23.5e-3"/>
+      </geometry>
+    </collision>
+    <!-- rubber tip with which to grasp -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 7.58e-3 45.25e-3"/>
+      <geometry>
+        <box size="17.5e-3 15.2e-3 18.5e-3"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.015"/>
+      <inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"/>
+    </inertial>
+  </link>
+  <link name="panda_rightfinger">
+    <visual>
+      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/finger.dae"/>
+      </geometry>
+    </visual>
+    <!-- screw mount -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -18.5e-3 11e-3"/>
+      <geometry>
+        <box size="22e-3 15e-3 20e-3"/>
+      </geometry>
+    </collision>
+    <!-- cartriage sledge -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -6.8e-3 2.2e-3"/>
+      <geometry>
+        <box size="22e-3 8.8e-3 3.8e-3"/>
+      </geometry>
+    </collision>
+    <!-- diagonal finger -->
+    <collision>
+      <origin rpy="-0.5235987755982988 0 0" xyz="0 -15.9e-3 28.35e-3"/>
+      <geometry>
+        <box size="17.5e-3 7e-3 23.5e-3"/>
+      </geometry>
+    </collision>
+    <!-- rubber tip with which to grasp -->
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -7.58e-3 45.25e-3"/>
+      <geometry>
+        <box size="17.5e-3 15.2e-3 18.5e-3"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.015"/>
+      <inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"/>
+    </inertial>
+  </link>
+  <joint name="panda_finger_joint1" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_leftfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
+    <dynamics damping="0.3"/>
+  </joint>
+  <joint name="panda_finger_joint2" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_rightfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
+    <mimic joint="panda_finger_joint1"/>
+    <dynamics damping="0.3"/>
+  </joint>
+  <!--  camera mount-->
+  <joint name="realsense_joint" type="fixed">
+    <origin rpy="0 -1.5707 3.1415" xyz="0.035 0 0.036"/>
+    <parent link="panda_hand"/>
+    <child link="camera_base_link"/>
+  </joint>
+  <link name="camera_base_link"/>
+  <joint name="camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.02 0.0115"/>
+    <parent link="camera_base_link"/>
+    <child link="camera_link"/>
+  </joint>
+  <link name="camera_link">
+    <!-- <visual>
+      <origin rpy="1.57079632679 0 1.57079632679" xyz="0.00987 -0.02 0"/>
+      <geometry>
+        <mesh filename="franka_description/meshes/visual/d435.dae" />
+      </geometry>
+    </visual> -->
+    <visual>
+      <origin rpy="0 0 0" xyz="0 -0.02 0"/>
+      <geometry>
+        <box size="0.02005 0.099 0.023"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.02 0"/>
+      <geometry>
+        <box size="0.02005 0.099 0.023"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.564"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+</robot>

project/ManiSkill3/src/maniskill3_environment/docs/source/_static/env_thumbnails/AnymalC-Reach-v1_rt_thumb_first.png ADDED Viewed

Git LFS Details

SHA256: 4f15893af66725601ba3ecbb7dcfe85468c891163c1e7ae8f163b58ea6970411
Pointer size: 130 Bytes
Size of remote file: 32.7 kB

project/ManiSkill3/src/maniskill3_environment/docs/source/_static/env_thumbnails/AnymalC-Reach-v1_rt_thumb_last.png ADDED Viewed

Git LFS Details

SHA256: 03f642b9c897ff568fbcc9d939fc3241510266102eaba52345e9a701e2b94ab3
Pointer size: 130 Bytes
Size of remote file: 29.4 kB

project/ManiSkill3/src/maniskill3_environment/docs/source/_static/env_thumbnails/AnymalC-Spin-v1_rt_thumb_first.png ADDED Viewed

Git LFS Details

SHA256: fdf35299409c31e60e9726060e9b8b3212d0af133bf217a924678cb5ab10de08
Pointer size: 130 Bytes
Size of remote file: 31.6 kB

project/ManiSkill3/src/maniskill3_environment/docs/source/_static/env_thumbnails/AssemblingKits-v1_rt_thumb_last.png ADDED Viewed

Git LFS Details

SHA256: 9404b6c45fcfe2caf99c4dedaaab4fab23213419924a1dbadea6acb9c39f8d9e
Pointer size: 131 Bytes
Size of remote file: 117 kB

project/ManiSkill3/src/maniskill3_environment/docs/source/_static/env_thumbnails/LiftPegUpright-v1_rt_thumb_first.png ADDED Viewed

Git LFS Details

SHA256: 191c366daec752bfc795e7268936555449fe5860ae2c64c760f5932c0437e7fe
Pointer size: 130 Bytes
Size of remote file: 75.6 kB

project/ManiSkill3/src/maniskill3_environment/docs/source/_static/env_thumbnails/MS-CartpoleBalance-v1_rt_thumb_first.png ADDED Viewed

Git LFS Details

SHA256: ed3c68e2819db53ba4222438a57895b58d9035435c725a09eee8409d4ee357f8
Pointer size: 129 Bytes
Size of remote file: 2.23 kB

project/ManiSkill3/src/maniskill3_environment/docs/source/_static/env_thumbnails/MS-CartpoleBalance-v1_rt_thumb_last.png ADDED Viewed

Git LFS Details

SHA256: 58ffc06db18200a3e4d9b0e401eac62a6f81488f872e8162ec0581aa74dd947d
Pointer size: 129 Bytes
Size of remote file: 3.4 kB