diff --git a/.gitattributes b/.gitattributes index f4f3945bd7150d3e12988485c42da1f8c29c59f8..220e50d3c73beadfa53fd4df80e860dcbf6c7a73 100644 --- a/.gitattributes +++ b/.gitattributes @@ -52,3 +52,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text *.jpg filter=lfs diff=lfs merge=lfs -text *.jpeg filter=lfs diff=lfs merge=lfs -text *.webp filter=lfs diff=lfs merge=lfs -text +*.dae filter=lfs diff=lfs merge=lfs -text diff --git a/LICENSE.txt b/LICENSE.txt new file mode 100644 index 0000000000000000000000000000000000000000..3f2038f62de71922e6508e5f589f818fe976ab99 --- /dev/null +++ b/LICENSE.txt @@ -0,0 +1,14 @@ +These assets represent derivative work of the following authors and are bound by the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode). + +Authors: +Fetch Robotics: https://github.com/fetchrobotics + +Adapted from: +https://github.com/fetchrobotics/fetch_ros +branch melodic_devel +June 2021 +commit: 9c38de60834e6e51e676a302337e9ca56436e94f + +Adaptations include: +- modifications to URDF file +- Addition of new collision meshes \ No newline at end of file diff --git a/meshes/base_link.dae b/meshes/base_link.dae new file mode 100644 index 0000000000000000000000000000000000000000..fea49b0a006fd16edcf282334556b4cee71ffd86 --- /dev/null +++ b/meshes/base_link.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec83c5d6e109f699f7efb3aa0502b636d00f1776d78f18c9ce4dda2245abd7fd +size 8510362 diff --git a/meshes/base_link_collision.STL b/meshes/base_link_collision.STL new file mode 100644 index 0000000000000000000000000000000000000000..1ef459fd5bb63e2e5391b6166bc3231b37d07170 Binary files /dev/null and b/meshes/base_link_collision.STL differ diff --git a/meshes/base_link_uv.png b/meshes/base_link_uv.png new file mode 100644 index 0000000000000000000000000000000000000000..907e054a47645a85a033726b1d051a03412d3826 --- /dev/null +++ b/meshes/base_link_uv.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c57d0a59236b441fa91f9e0489acb49960ae7a57603c33727c45cddb70258aac +size 442058 diff --git a/meshes/bellows_link.STL b/meshes/bellows_link.STL new file mode 100644 index 0000000000000000000000000000000000000000..9e803fa78e793dac46eaad2fb4dad88cde606a9d Binary files /dev/null and b/meshes/bellows_link.STL differ diff --git a/meshes/bellows_link_collision.STL b/meshes/bellows_link_collision.STL new file mode 100644 index 0000000000000000000000000000000000000000..a7e5ab75ca42d597fc49d7913446ab7e6c2388f3 Binary files /dev/null and b/meshes/bellows_link_collision.STL differ diff --git a/meshes/bellows_link_collision.obj b/meshes/bellows_link_collision.obj new file mode 100644 index 0000000000000000000000000000000000000000..747a06a81ccf82ae0c1e6c4c2f9aa15f8a89be66 --- /dev/null +++ b/meshes/bellows_link_collision.obj @@ -0,0 +1,48 @@ +# chd Mesh group +v 0.0431472 0.094064 0.0176975 +v -0.0332084 -0.143629 -0.291713 +v -0.0332084 0.141536 -0.291713 +v -0.0332084 -0.143629 0.0219375 +v 0.0431472 -0.0961567 -0.287473 +v -0.0332084 0.141536 0.0219375 +v 0.0201777 -0.147889 0.0266236 +v 0.0236733 0.140393 -0.290456 +v 0.0431472 -0.0961567 0.0176975 +v 0.0201777 -0.147889 -0.296399 +v 0.0431472 0.094064 -0.287473 +v 0.0236733 0.140393 0.0206802 +v 0.0355066 0.115016 -0.288969 +v 0.0355066 0.115016 0.019193 +v 0.0238743 -0.139962 -0.292176 +v 0.0238743 -0.139962 0.0224 +# Number of vertices 16 + +g part_1 mesh +f 7 15 16 +f 3 2 4 +f 3 4 6 +f 6 4 7 +f 4 2 7 +f 3 6 8 +f 5 1 9 +f 1 7 9 +f 2 3 10 +f 7 2 10 +f 3 8 10 +f 1 5 11 +f 5 10 11 +f 6 7 12 +f 8 6 12 +f 8 12 13 +f 10 8 13 +f 11 10 13 +f 1 11 13 +f 1 13 14 +f 7 1 14 +f 12 7 14 +f 13 12 14 +f 5 9 15 +f 7 10 15 +f 10 5 15 +f 9 7 16 +f 15 9 16 diff --git a/meshes/elbow_flex_link.dae b/meshes/elbow_flex_link.dae new file mode 100644 index 0000000000000000000000000000000000000000..590b8ec38cf998422cf2541f0ff493ce3f29b227 --- /dev/null +++ b/meshes/elbow_flex_link.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b05f1d7b9fab80751f6b0e25e9da25113c509877549a9627d4b2c48b36333a99 +size 928772 diff --git a/meshes/elbow_flex_link_collision.STL b/meshes/elbow_flex_link_collision.STL new file mode 100644 index 0000000000000000000000000000000000000000..b0eea0777a10b5aad2e9237c888883944492c42e Binary files /dev/null and b/meshes/elbow_flex_link_collision.STL differ diff --git a/meshes/elbow_flex_link_collision.obj b/meshes/elbow_flex_link_collision.obj new file mode 100644 index 0000000000000000000000000000000000000000..bfe5fa627a7c1aad6d592926c309cbfbd20ac518 --- /dev/null +++ b/meshes/elbow_flex_link_collision.obj @@ -0,0 +1,72 @@ +# chd Mesh group +v 0.0758418 -0.040974 -0.0039882 +v 0.0531276 0.0687472 0.0139706 +v 0.0531295 0.0687187 -0.0144237 +v -0.0496385 0.00142305 0.0116059 +v 0.167362 -0.00430003 0.0529125 +v 0.167362 -0.0179184 -0.050637 +v -0.0124843 0.00114733 -0.0533625 +v -0.0315406 0.0719875 0.0392744 +v 0.167362 0.0529095 0.00384249 +v -0.0124843 0.0719875 -0.0479114 +v -0.015185 0.00114733 0.0529125 +v 0.167362 -0.0506271 0.0174702 +v 0.167362 0.0283718 -0.0451755 +v -0.015185 0.0719875 0.0474614 +v -0.0451739 0.0719875 -0.0206561 +v 0.167362 -0.0451797 -0.0288327 +v 0.162933 0.0328359 0.0403054 +v -0.0411587 0.00146843 -0.0303269 +v 0.10121 -0.0412097 0.0288257 +v 0.104162 -0.049317 -0.0116907 +v 0.167362 -0.0288254 0.0447255 +v -0.0533625 0.0610682 0.0120191 +v 0.159168 0.0118925 -0.0506713 +v 0.158949 0.0480214 -0.0221618 +# Number of vertices 24 + +g part_1 mesh +f 13 10 24 +f 3 2 9 +f 5 6 9 +f 2 3 10 +f 8 4 11 +f 6 5 12 +f 9 6 13 +f 9 2 14 +f 2 10 14 +f 10 8 14 +f 11 5 14 +f 8 11 14 +f 8 10 15 +f 7 6 16 +f 6 12 16 +f 5 9 17 +f 9 14 17 +f 14 5 17 +f 1 4 18 +f 10 7 18 +f 15 10 18 +f 4 1 19 +f 11 4 19 +f 12 19 20 +f 7 16 20 +f 16 12 20 +f 1 18 20 +f 18 7 20 +f 19 1 20 +f 5 11 21 +f 12 5 21 +f 11 19 21 +f 19 12 21 +f 4 8 22 +f 8 15 22 +f 18 4 22 +f 15 18 22 +f 6 7 23 +f 7 10 23 +f 13 6 23 +f 10 13 23 +f 3 9 24 +f 10 3 24 +f 9 13 24 diff --git a/meshes/elbow_flex_uv.png b/meshes/elbow_flex_uv.png new file mode 100644 index 0000000000000000000000000000000000000000..76a7262329ee6b1a6efe2ae824a3ca8928872562 --- /dev/null +++ b/meshes/elbow_flex_uv.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea9b88e1835e234700fff8088e6f2f723bc8a3e1a0d9b4b91935046804f26a43 +size 212497 diff --git a/meshes/estop_link.STL b/meshes/estop_link.STL new file mode 100644 index 0000000000000000000000000000000000000000..f6d1c72e85f9b028b8a6026278a1d99f1035f353 Binary files /dev/null and b/meshes/estop_link.STL differ diff --git a/meshes/estop_link.dae b/meshes/estop_link.dae new file mode 100644 index 0000000000000000000000000000000000000000..361e06a1e11e29dfe5ddd95ec8451529f87d0c5b --- /dev/null +++ b/meshes/estop_link.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5fb32172668c88e2222158b481f04dde5f6954c93372810bfd78f2361e62d2b8 +size 606014 diff --git a/meshes/forearm_roll_link.dae b/meshes/forearm_roll_link.dae new file mode 100644 index 0000000000000000000000000000000000000000..9dc95281f8cd7cf29035915f382a527b7f80d433 --- /dev/null +++ b/meshes/forearm_roll_link.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:823c46acc13e3adcc5f2fb605497c385595616c67f9c1d61fd8db8401ff15cb2 +size 1634962 diff --git a/meshes/forearm_roll_link_collision.STL b/meshes/forearm_roll_link_collision.STL new file mode 100644 index 0000000000000000000000000000000000000000..fe468c540639d27015b8859a235bc10ce931ab8e Binary files /dev/null and b/meshes/forearm_roll_link_collision.STL differ diff --git a/meshes/forearm_roll_link_collision.obj b/meshes/forearm_roll_link_collision.obj new file mode 100644 index 0000000000000000000000000000000000000000..4fe06154d44cdb0c7c9e38ba291126f21ff9d730 --- /dev/null +++ b/meshes/forearm_roll_link_collision.obj @@ -0,0 +1,72 @@ +# chd Mesh group +v -0.0258426 -0.0530495 -0.0115522 +v 0.0147544 0.0457586 0.00983031 +v 0.0143762 0.0461746 -0.00862159 +v 0.177787 -0.0779807 -0.00952677 +v 0.131352 -0.0778474 0.0499819 +v -0.0282966 -0.0162801 0.0497548 +v -0.0282683 0.01067 -0.0507777 +v 0.136589 -0.0882765 -0.0481321 +v 0.170039 -0.0470933 -0.0172437 +v 0.140884 -0.0494441 0.0456366 +v -0.0291451 0.0356516 0.0378123 +v 0.0330839 -0.0725744 0.0276327 +v 0.138935 -0.0496495 -0.0469703 +v -0.0287695 -0.0359713 -0.0387073 +v 0.170039 -0.0496707 0.0265062 +v 0.139151 -0.0882765 0.047095 +v 0.00764899 0.0387282 -0.032819 +v 0.0125476 0.0194991 0.0460508 +v -0.0291654 0.0505227 -0.0116468 +v 0.079582 -0.0848364 -0.0262298 +v -0.0283826 -0.0481755 0.0227976 +v 0.0147001 0.0365965 0.0305573 +v 0.170039 -0.0882765 0.018779 +v -0.0278077 -0.0138556 -0.0505474 +# Number of vertices 24 + +g part_1 mesh +f 14 7 24 +f 3 2 9 +f 4 8 13 +f 8 7 13 +f 9 4 13 +f 9 2 15 +f 4 9 15 +f 15 10 16 +f 5 6 16 +f 10 5 16 +f 6 12 16 +f 3 9 17 +f 13 7 17 +f 9 13 17 +f 6 5 18 +f 5 10 18 +f 11 6 18 +f 2 3 19 +f 11 2 19 +f 7 14 19 +f 14 11 19 +f 3 17 19 +f 17 7 19 +f 12 1 20 +f 1 14 20 +f 14 8 20 +f 8 16 20 +f 16 12 20 +f 6 11 21 +f 12 6 21 +f 1 12 21 +f 14 1 21 +f 11 14 21 +f 2 11 22 +f 15 2 22 +f 10 15 22 +f 18 10 22 +f 11 18 22 +f 8 4 23 +f 4 15 23 +f 15 16 23 +f 16 8 23 +f 7 8 24 +f 8 14 24 diff --git a/meshes/forearm_roll_uv.png b/meshes/forearm_roll_uv.png new file mode 100644 index 0000000000000000000000000000000000000000..c29bf1673ff2ed9af437117e960166d9ea5f4c51 --- /dev/null +++ b/meshes/forearm_roll_uv.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b8b39cd443a3cd1a0041c324b229e06aaad47d0e1561bcce98d6056c653368c +size 149277 diff --git a/meshes/gripper_link.STL b/meshes/gripper_link.STL new file mode 100644 index 0000000000000000000000000000000000000000..15ea9b0552935c2c58ece717ea65d18c686bce35 Binary files /dev/null and b/meshes/gripper_link.STL differ diff --git a/meshes/gripper_link.dae b/meshes/gripper_link.dae new file mode 100644 index 0000000000000000000000000000000000000000..23a58e7ea918d21d59a4e30f837e3564d91e4f23 --- /dev/null +++ b/meshes/gripper_link.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22abd38377e1e760118a32ecd35e9ef9851ed0f1437ac04d5c278f91796ca68a +size 1938889 diff --git a/meshes/gripper_link_collision.obj b/meshes/gripper_link_collision.obj new file mode 100644 index 0000000000000000000000000000000000000000..cbb769aa96800f2c8771069db80cdd03cfe1d186 --- /dev/null +++ b/meshes/gripper_link_collision.obj @@ -0,0 +1,72 @@ +# chd Mesh group +v -0.0742851 0.0279309 -0.0409188 +v -0.152925 -0.0586537 -0.0212747 +v -0.152895 -0.0586246 0.0232151 +v -0.0314512 -0.0607312 -0.0262778 +v -0.0419275 0.0544594 0.0428281 +v -0.155039 0.0586456 0.0344434 +v -0.0440325 -0.0565319 0.0428281 +v -0.148748 0.0607452 -0.0325642 +v -0.0314633 0.0607452 -0.0262866 +v -0.142457 -0.0376878 0.0449265 +v -0.142457 -0.0439736 -0.0409489 +v -0.0314512 -0.0607312 0.0302554 +v -0.0419275 -0.0397743 -0.0409489 +v -0.0440325 0.0649313 0.0344434 +v -0.140364 -0.0649173 0.0344434 +v -0.0314633 0.0565459 0.0365418 +v -0.0440325 -0.0649173 -0.0304658 +v -0.123609 0.0502602 0.0449265 +v -0.155039 0.0272299 -0.0367609 +v -0.138272 0.0670309 -0.00114997 +v -0.0461254 0.0628317 -0.0346626 +v -0.142457 -0.0649173 -0.0304658 +v -0.142457 0.0439876 -0.0409489 +v -0.155039 -0.0565319 0.0365418 +# Number of vertices 24 + +g part_1 mesh +f 6 19 24 +f 4 9 12 +f 9 4 13 +f 7 10 15 +f 12 7 15 +f 5 7 16 +f 7 12 16 +f 12 9 16 +f 14 5 16 +f 9 14 16 +f 4 12 17 +f 13 4 17 +f 11 13 17 +f 12 15 17 +f 7 5 18 +f 6 10 18 +f 10 7 18 +f 5 14 18 +f 14 6 18 +f 6 8 19 +f 11 2 19 +f 8 6 20 +f 6 14 20 +f 20 14 21 +f 13 1 21 +f 9 13 21 +f 14 9 21 +f 8 20 21 +f 3 2 22 +f 2 11 22 +f 15 3 22 +f 11 17 22 +f 17 15 22 +f 1 13 23 +f 13 11 23 +f 19 8 23 +f 11 19 23 +f 21 1 23 +f 8 21 23 +f 2 3 24 +f 10 6 24 +f 3 15 24 +f 15 10 24 +f 19 2 24 diff --git a/meshes/gripper_uv.png b/meshes/gripper_uv.png new file mode 100644 index 0000000000000000000000000000000000000000..97f48c6c46868ce18a8846e16845578a553ff391 --- /dev/null +++ b/meshes/gripper_uv.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68d966f989efcc2d3681f9b02e0767fafbc05fedde2a39129ea0b578b6ecc09a +size 220 diff --git a/meshes/head_pan_link.dae b/meshes/head_pan_link.dae new file mode 100644 index 0000000000000000000000000000000000000000..9a54595711186dccbd0579459f87734b381c1cf8 --- /dev/null +++ b/meshes/head_pan_link.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d9e747aa10f680a5e99bba0234009cb10018c9e573c9a4685c6be02f0297e60 +size 978083 diff --git a/meshes/head_pan_link_collision.STL b/meshes/head_pan_link_collision.STL new file mode 100644 index 0000000000000000000000000000000000000000..c77b5b187257f0ca97da05b5222d6115e01eff09 Binary files /dev/null and b/meshes/head_pan_link_collision.STL differ diff --git a/meshes/head_pan_uv.png b/meshes/head_pan_uv.png new file mode 100644 index 0000000000000000000000000000000000000000..225ae54b0b06dc82c0da837d2bcfeb542703749d --- /dev/null +++ b/meshes/head_pan_uv.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33332c61822b862e7e356c630d4e07c90e50f31ba307d7a886c52c7cbe8be763 +size 6619 diff --git a/meshes/head_tilt_link.dae b/meshes/head_tilt_link.dae new file mode 100644 index 0000000000000000000000000000000000000000..c87bc7643d24b8570798d3d8881e272e8a365b37 --- /dev/null +++ b/meshes/head_tilt_link.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb77580b300fbb0931c04519cb56081a10240b4ec5779da4b0f488ab42fe4718 +size 746107 diff --git a/meshes/head_tilt_link_collision.STL b/meshes/head_tilt_link_collision.STL new file mode 100644 index 0000000000000000000000000000000000000000..53c2ddc58c1d342df4f30deb56137bda68aedeed Binary files /dev/null and b/meshes/head_tilt_link_collision.STL differ diff --git a/meshes/head_tilt_uv.png b/meshes/head_tilt_uv.png new file mode 100644 index 0000000000000000000000000000000000000000..202ef0355f9af998eaacd21b1c977044372a4562 --- /dev/null +++ b/meshes/head_tilt_uv.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08a6495dffaab63146997098b79652b0dfea0018fc081e7f602f019eb1f139e1 +size 52016 diff --git a/meshes/l_gripper_finger_link.STL b/meshes/l_gripper_finger_link.STL new file mode 100644 index 0000000000000000000000000000000000000000..afc44c0594db8e7ed076de5a9d803f3757951c2e Binary files /dev/null and b/meshes/l_gripper_finger_link.STL differ diff --git a/meshes/l_gripper_finger_link_opt.stl b/meshes/l_gripper_finger_link_opt.stl new file mode 100644 index 0000000000000000000000000000000000000000..d98195121b7a8d0254791a6d172240ece03856ba Binary files /dev/null and b/meshes/l_gripper_finger_link_opt.stl differ diff --git a/meshes/l_wheel_link.STL b/meshes/l_wheel_link.STL new file mode 100644 index 0000000000000000000000000000000000000000..0990d8b4cae2d47b0c7997f79706c3c8cf679aaa Binary files /dev/null and b/meshes/l_wheel_link.STL differ diff --git a/meshes/l_wheel_link_collision.STL b/meshes/l_wheel_link_collision.STL new file mode 100644 index 0000000000000000000000000000000000000000..5c1752487efc163453d32996e667e63713a6a398 Binary files /dev/null and b/meshes/l_wheel_link_collision.STL differ diff --git a/meshes/laser_link.STL b/meshes/laser_link.STL new file mode 100644 index 0000000000000000000000000000000000000000..fa4882fc9830423e8f0b623636c325f9154feba9 Binary files /dev/null and b/meshes/laser_link.STL differ diff --git a/meshes/r_gripper_finger_link.STL b/meshes/r_gripper_finger_link.STL new file mode 100644 index 0000000000000000000000000000000000000000..3ecbffcdddb67299b54987e20f17f4b282961696 Binary files /dev/null and b/meshes/r_gripper_finger_link.STL differ diff --git a/meshes/r_gripper_finger_link_opt.stl b/meshes/r_gripper_finger_link_opt.stl new file mode 100644 index 0000000000000000000000000000000000000000..b1341c77831e416d9808e82ad155b998d4837a96 Binary files /dev/null and b/meshes/r_gripper_finger_link_opt.stl differ diff --git a/meshes/r_wheel_link.STL b/meshes/r_wheel_link.STL new file mode 100644 index 0000000000000000000000000000000000000000..ffd4f948de785641c4864002e8cf35f2785a014b Binary files /dev/null and b/meshes/r_wheel_link.STL differ diff --git a/meshes/r_wheel_link_collision.STL b/meshes/r_wheel_link_collision.STL new file mode 100644 index 0000000000000000000000000000000000000000..3742b24694f3bcf542254754f452eb316006b35b Binary files /dev/null and b/meshes/r_wheel_link_collision.STL differ diff --git a/meshes/shoulder_lift_link.dae b/meshes/shoulder_lift_link.dae new file mode 100644 index 0000000000000000000000000000000000000000..b03f03d4d6af1154be40dce86db4f464bfa96fb8 --- /dev/null +++ b/meshes/shoulder_lift_link.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b716ce3a1577e9f0ac64fdc55942d73fb949ac6e2897c9fe68a0d10330b08e6e +size 3105888 diff --git a/meshes/shoulder_lift_link_collision.STL b/meshes/shoulder_lift_link_collision.STL new file mode 100644 index 0000000000000000000000000000000000000000..c9aff0dda920b09c76639d737fbb6a3d83c29d10 Binary files /dev/null and b/meshes/shoulder_lift_link_collision.STL differ diff --git a/meshes/shoulder_lift_link_collision.obj b/meshes/shoulder_lift_link_collision.obj new file mode 100644 index 0000000000000000000000000000000000000000..444aba964eca03c4eda7ee6424ab0ccc30c2a8c9 --- /dev/null +++ b/meshes/shoulder_lift_link_collision.obj @@ -0,0 +1,72 @@ +# chd Mesh group +v 0.0955651 -0.0458247 0.00441976 +v 0.0586988 0.0692331 0.0126772 +v 0.0587006 0.0692742 -0.011732 +v -0.0566499 -0.00140138 0.0128395 +v -0.01164 -0.00123588 -0.0577054 +v 0.173432 0.00958025 -0.0524957 +v 0.173432 -0.0161897 0.0505922 +v -0.0327638 0.0725926 0.0477229 +v -0.0241885 0.0725926 -0.0525077 +v 0.173432 0.0525342 0.00762584 +v -0.00637334 -0.00126055 0.0587918 +v 0.173432 -0.0448339 -0.0295899 +v 0.0101813 0.0725926 0.0563186 +v 0.173432 -0.0476835 0.0248051 +v -0.0556846 0.0725926 -0.0152678 +v -0.0477191 -0.00133187 -0.0336414 +v 0.168745 0.0288143 0.043094 +v 0.168472 0.0452377 -0.0255718 +v 0.00997843 0.0610223 -0.0577531 +v 0.108979 -0.0487127 -0.0114343 +v 0.173432 -0.0190516 -0.0496385 +v -0.0335664 -0.00126862 0.0479701 +v -0.0518622 0.0565922 0.0295146 +v 0.026403 0.0687932 -0.0493129 +# Number of vertices 24 + +g part_1 mesh +f 19 9 24 +f 3 2 10 +f 7 6 10 +f 6 7 12 +f 2 3 13 +f 3 9 13 +f 9 8 13 +f 10 2 13 +f 11 7 13 +f 8 11 13 +f 11 1 14 +f 7 11 14 +f 12 7 14 +f 8 9 15 +f 15 9 16 +f 1 4 16 +f 9 5 16 +f 4 15 16 +f 7 10 17 +f 10 13 17 +f 13 7 17 +f 10 6 18 +f 6 5 19 +f 5 9 19 +f 5 12 20 +f 14 1 20 +f 12 14 20 +f 1 16 20 +f 16 5 20 +f 5 6 21 +f 12 5 21 +f 6 12 21 +f 4 1 22 +f 1 11 22 +f 11 8 22 +f 15 4 23 +f 8 15 23 +f 4 22 23 +f 22 8 23 +f 9 3 24 +f 3 10 24 +f 18 6 24 +f 10 18 24 +f 6 19 24 diff --git a/meshes/shoulder_lift_uv.png b/meshes/shoulder_lift_uv.png new file mode 100644 index 0000000000000000000000000000000000000000..2ffbc2487b19c9a8338d13c779bc31025c4fc7ac --- /dev/null +++ b/meshes/shoulder_lift_uv.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:020133fa2c52c2ae81941b47d955022893e501e8fcf59f140da5d7629d82975b +size 172947 diff --git a/meshes/shoulder_pan_link.dae b/meshes/shoulder_pan_link.dae new file mode 100644 index 0000000000000000000000000000000000000000..a952b0410bc29716ffc4fab95324ed50c0dc3c36 --- /dev/null +++ b/meshes/shoulder_pan_link.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6670bcd09185d7767a529b35996a96cb268a8267c5769bf9dc1213d0aa4e241 +size 3356413 diff --git a/meshes/shoulder_pan_link_collision.STL b/meshes/shoulder_pan_link_collision.STL new file mode 100644 index 0000000000000000000000000000000000000000..ac17a943757561c9d0d5b381af2cbc24b8b8b4c4 Binary files /dev/null and b/meshes/shoulder_pan_link_collision.STL differ diff --git a/meshes/shoulder_pan_uv.png b/meshes/shoulder_pan_uv.png new file mode 100644 index 0000000000000000000000000000000000000000..fd83d706dc17d432865eadd893df14464473c5c7 --- /dev/null +++ b/meshes/shoulder_pan_uv.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c57507489356d5b03e29263c44483e3c79f8fab453094473db234a4bdacccdf +size 245540 diff --git a/meshes/suctionCup.glb b/meshes/suctionCup.glb new file mode 100644 index 0000000000000000000000000000000000000000..1bdd157b774d450b6e57d62e14ced0ed73114b79 Binary files /dev/null and b/meshes/suctionCup.glb differ diff --git a/meshes/torso_fixed_link.STL b/meshes/torso_fixed_link.STL new file mode 100644 index 0000000000000000000000000000000000000000..7cf7fc147ebeae583d537a0a9842398921f8495f Binary files /dev/null and b/meshes/torso_fixed_link.STL differ diff --git a/meshes/torso_fixed_link.dae b/meshes/torso_fixed_link.dae new file mode 100644 index 0000000000000000000000000000000000000000..fbbdd3e6da09120d8e12cdc3b36bf30fb82a28b5 --- /dev/null +++ b/meshes/torso_fixed_link.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88d269ac0f15d460ba3d7bd6bfc6be22dca5ed90e675b684cf3ae7f9649dd62e +size 30392 diff --git a/meshes/torso_fixed_uv.png b/meshes/torso_fixed_uv.png new file mode 100644 index 0000000000000000000000000000000000000000..bc056621a544bdc9c55fbf8bb3aecc95e523d3fe --- /dev/null +++ b/meshes/torso_fixed_uv.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb6e43faabde714cae836fb31c195d0efc4444b7d2071a9b0ebd7a7d6d995975 +size 219 diff --git a/meshes/torso_lift_link.dae b/meshes/torso_lift_link.dae new file mode 100644 index 0000000000000000000000000000000000000000..5cae38b2b51c884b125fd403bbeff1af3ba50f76 --- /dev/null +++ b/meshes/torso_lift_link.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6fc32949a618d51276eeccd1d8cec3e105086a94a6fa7a7e12b68fef4ea5963c +size 5911045 diff --git a/meshes/torso_lift_link_collision.STL b/meshes/torso_lift_link_collision.STL new file mode 100644 index 0000000000000000000000000000000000000000..4ce5fcf9c58c885b37dc012f6a539f3e89776006 Binary files /dev/null and b/meshes/torso_lift_link_collision.STL differ diff --git a/meshes/torso_lift_uv.png b/meshes/torso_lift_uv.png new file mode 100644 index 0000000000000000000000000000000000000000..b6068d73e95dde6b477b8d25555c5d391418460a --- /dev/null +++ b/meshes/torso_lift_uv.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16bbf468ca5737571dde20f018f5ef06fd7b0d4a70fd34e4d3d91a53de5eada6 +size 87431 diff --git a/meshes/upperarm_roll_link.dae b/meshes/upperarm_roll_link.dae new file mode 100644 index 0000000000000000000000000000000000000000..d790be135cd6fe2b4ffd5c20655dfa722ed57483 --- /dev/null +++ b/meshes/upperarm_roll_link.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d40436c5f4fec46b031cab8e1c9c6de1bef0fdb208f8ba242fc5a1f0dff32cf5 +size 1121112 diff --git a/meshes/upperarm_roll_link_collision.STL b/meshes/upperarm_roll_link_collision.STL new file mode 100644 index 0000000000000000000000000000000000000000..120793232e41601320be52e298be450de59e3b5f Binary files /dev/null and b/meshes/upperarm_roll_link_collision.STL differ diff --git a/meshes/upperarm_roll_link_collision.obj b/meshes/upperarm_roll_link_collision.obj new file mode 100644 index 0000000000000000000000000000000000000000..71e5f3b85ec06f72f77ac0da0ee0f58d9ae3f690 --- /dev/null +++ b/meshes/upperarm_roll_link_collision.obj @@ -0,0 +1,72 @@ +# chd Mesh group +v -0.00339762 -0.0580031 -0.00272132 +v 0.0114185 0.0496493 0.00252073 +v 0.0114278 0.0496399 -0.00265284 +v 0.182984 -0.0618879 0.00537891 +v 0.144293 0.00106483 -0.0534036 +v 0.15551 0.00106483 0.0504622 +v -0.04356 -0.0127376 0.0506376 +v -0.0432996 -0.0127283 -0.0506523 +v 0.147086 -0.0719036 -0.0477859 +v 0.147086 -0.0719036 0.0476533 +v -0.044153 0.0408791 0.0321256 +v -0.043985 0.0408051 -0.0322102 +v 0.178162 0.00327826 -0.0161165 +v -0.0423336 -0.0496306 0.0184009 +v -0.04331 -0.0420152 -0.0320173 +v 0.175152 -0.0719036 -0.0281342 +v 0.1782 0.00328246 0.0159896 +v -0.0423943 0.0136984 0.0501102 +v -0.0437466 0.0193058 -0.0481799 +v 0.147086 -0.0606634 -0.0534036 +v 0.175152 -0.0719036 0.0280016 +v -0.0369988 -0.0364302 0.0394958 +v 0.0764871 -0.0686603 0.0105824 +v 0.00863118 0.0472352 -0.018286 +# Number of vertices 24 + +g part_1 mesh +f 13 5 24 +f 6 7 10 +f 6 2 11 +f 2 3 12 +f 11 2 12 +f 3 2 13 +f 9 1 15 +f 8 9 15 +f 7 11 15 +f 11 12 15 +f 1 14 15 +f 14 7 15 +f 10 9 16 +f 5 13 16 +f 13 4 16 +f 2 6 17 +f 13 2 17 +f 4 13 17 +f 7 6 18 +f 6 11 18 +f 11 7 18 +f 5 8 19 +f 12 5 19 +f 8 15 19 +f 15 12 19 +f 8 5 20 +f 9 8 20 +f 5 16 20 +f 16 9 20 +f 6 10 21 +f 16 4 21 +f 10 16 21 +f 17 6 21 +f 4 17 21 +f 10 7 22 +f 7 14 22 +f 14 10 22 +f 1 9 23 +f 9 10 23 +f 14 1 23 +f 10 14 23 +f 12 3 24 +f 5 12 24 +f 3 13 24 diff --git a/meshes/upperarm_roll_uv.png b/meshes/upperarm_roll_uv.png new file mode 100644 index 0000000000000000000000000000000000000000..e11105307e6569d3113a28e97f8cea49666abfc6 --- /dev/null +++ b/meshes/upperarm_roll_uv.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c86025f3d7099b6696f57fef808f150263051f9fee2051a56c7885569a45fc1 +size 209404 diff --git a/meshes/wrist_flex_link.dae b/meshes/wrist_flex_link.dae new file mode 100644 index 0000000000000000000000000000000000000000..42701d6bf650803c7a5f87f8975ffe8dfc4448ff --- /dev/null +++ b/meshes/wrist_flex_link.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2abb7eef99138616f4036ac62c4e602058236c679d9f2fc4544d77708c0d5252 +size 640576 diff --git a/meshes/wrist_flex_link_collision.STL b/meshes/wrist_flex_link_collision.STL new file mode 100644 index 0000000000000000000000000000000000000000..3215d2e1de0f271dfdfc8abb2c00c47cafaabe45 Binary files /dev/null and b/meshes/wrist_flex_link_collision.STL differ diff --git a/meshes/wrist_flex_link_collision.obj b/meshes/wrist_flex_link_collision.obj new file mode 100644 index 0000000000000000000000000000000000000000..45ebe0ac5e7e067df32c87b5fd2a8141087a569e --- /dev/null +++ b/meshes/wrist_flex_link_collision.obj @@ -0,0 +1,72 @@ +# chd Mesh group +v 0.072939 -0.0523194 -0.0252791 +v 0.0525607 0.0645948 0.0153898 +v 0.0626736 0.0619422 0.0178931 +v -0.0162564 -0.0525551 0.0486679 +v -0.034612 0.0569782 -0.0426263 +v -0.037276 -0.0553253 -0.0399564 +v 0.117837 0.0168707 -0.0506465 +v 0.117837 -0.0232248 0.0482861 +v -0.0316898 0.0547582 0.0410662 +v 0.117837 0.0168707 0.050956 +v -0.050136 -0.0504472 0.0130166 +v 0.117837 0.0516322 -0.0132156 +v 0.114634 -0.0504384 0.00787469 +v -0.0479821 0.0676824 -0.0132156 +v -0.0185445 -0.0553253 -0.0506465 +v 0.009524 0.0617115 -0.0478085 +v 0.117837 -0.0285829 -0.0452962 +v -0.00332428 0.06209 0.048445 +v 0.117837 0.0462861 0.0268851 +v -0.0399567 -0.0553253 0.0375856 +v -0.0506461 0.0596513 0.0188649 +v 0.00680889 -0.0523127 0.0510167 +v -0.0109372 0.0544319 -0.050646 +v -0.0479821 -0.0553253 -0.0239057 +# Number of vertices 24 + +g part_1 mesh +f 21 14 24 +f 8 7 10 +f 2 3 12 +f 10 7 12 +f 6 5 15 +f 2 12 16 +f 12 7 16 +f 5 14 16 +f 14 2 16 +f 7 8 17 +f 13 1 17 +f 8 13 17 +f 15 7 17 +f 1 15 17 +f 3 2 18 +f 9 4 18 +f 2 14 18 +f 12 3 19 +f 10 12 19 +f 3 18 19 +f 18 10 19 +f 4 9 20 +f 1 13 20 +f 6 15 20 +f 15 1 20 +f 9 18 21 +f 18 14 21 +f 20 9 21 +f 11 20 21 +f 8 10 22 +f 13 8 22 +f 18 4 22 +f 10 18 22 +f 4 20 22 +f 20 13 22 +f 15 5 23 +f 7 15 23 +f 16 7 23 +f 5 16 23 +f 5 6 24 +f 14 5 24 +f 6 20 24 +f 20 11 24 +f 11 21 24 diff --git a/meshes/wrist_flex_uv.png b/meshes/wrist_flex_uv.png new file mode 100644 index 0000000000000000000000000000000000000000..73a6b2f86a0caf10f0446b225430a737f186a3a3 --- /dev/null +++ b/meshes/wrist_flex_uv.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81e621117cfd645fa9ee7684ddf93b0ee71bc81367f0b7c7045afc4f9ed4abc7 +size 64012 diff --git a/meshes/wrist_roll_link.dae b/meshes/wrist_roll_link.dae new file mode 100644 index 0000000000000000000000000000000000000000..14ccb051afabb2e3fcb0004730408782127afb04 --- /dev/null +++ b/meshes/wrist_roll_link.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b1120a062c9c7787a01562f02565e200d24f8bea80f4a38a7855c4e806262e2 +size 792090 diff --git a/meshes/wrist_roll_link_collision.STL b/meshes/wrist_roll_link_collision.STL new file mode 100644 index 0000000000000000000000000000000000000000..742bdd9197a34dadf2092b6062ebd18cf7ff9ab8 Binary files /dev/null and b/meshes/wrist_roll_link_collision.STL differ diff --git a/meshes/wrist_roll_link_collision.obj b/meshes/wrist_roll_link_collision.obj new file mode 100644 index 0000000000000000000000000000000000000000..872b6dbf27308561bc58d8993915754e3d5a44e1 --- /dev/null +++ b/meshes/wrist_roll_link_collision.obj @@ -0,0 +1,72 @@ +# chd Mesh group +v -0.023 0.00812946 -0.0509094 +v 0.00649929 0.0081194 0.0508463 +v -0.023 0.00812946 0.0509094 +v -0.0237642 -0.052711 0.00840257 +v 0.0191249 -0.0207051 -0.0235799 +v 0.00833054 0.0527443 -0.00534709 +v -0.023 0.049441 0.0154881 +v 0.00833054 -0.0420065 0.0328567 +v 0.00833054 -0.0420065 -0.0328567 +v 0.00833054 0.0145302 -0.0511896 +v 0.0191579 0.0107519 0.0293527 +v -0.023 0.0420657 -0.0302486 +v 0.00833054 0.0420398 0.0328567 +v -0.023 -0.0258068 -0.0449992 +v 0.0192172 0.0280177 -0.0136368 +v -0.0229832 -0.0257865 0.0449639 +v 0.00833054 -0.052711 0.00534709 +v 0.00833054 -0.0144969 -0.0511896 +v 0.00833054 -0.0144969 0.0511896 +v 0.0191672 -0.0264852 0.0164681 +v 0.00833054 0.0420398 -0.0328567 +v -0.023 -0.0479327 -0.0199133 +v -0.023 0.0302653 0.0420491 +v 0.00833054 0.0191134 0.0496619 +# Number of vertices 24 + +g part_1 mesh +f 23 3 24 +f 1 4 12 +f 4 7 12 +f 7 6 12 +f 10 1 12 +f 6 7 13 +f 4 1 14 +f 5 10 15 +f 6 13 15 +f 13 11 15 +f 3 4 16 +f 4 8 16 +f 8 4 17 +f 9 5 17 +f 5 9 18 +f 10 5 18 +f 1 10 18 +f 14 1 18 +f 9 14 18 +f 2 3 19 +f 3 16 19 +f 16 8 19 +f 5 15 20 +f 15 11 20 +f 8 17 20 +f 17 5 20 +f 11 19 20 +f 19 8 20 +f 12 6 21 +f 10 12 21 +f 15 10 21 +f 6 15 21 +f 4 14 22 +f 14 9 22 +f 17 4 22 +f 9 17 22 +f 4 3 23 +f 7 4 23 +f 13 7 23 +f 13 23 24 +f 3 2 24 +f 11 13 24 +f 2 19 24 +f 19 11 24 diff --git a/meshes/wrist_roll_uv.png b/meshes/wrist_roll_uv.png new file mode 100644 index 0000000000000000000000000000000000000000..7188e8e5f49628d9b211ce826409fdf09b3219a6 --- /dev/null +++ b/meshes/wrist_roll_uv.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:922981c94d4df1a401bfb04bf8cce82e2692c55154204349d870f13788f9f61d +size 1694 diff --git a/robots/fetch.urdf b/robots/fetch.urdf new file mode 100644 index 0000000000000000000000000000000000000000..1648a8c4ef501bf686cf7c1077b99853e42a938e --- /dev/null +++ b/robots/fetch.urdf @@ -0,0 +1,586 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robots/fetch_arm.urdf b/robots/fetch_arm.urdf new file mode 100644 index 0000000000000000000000000000000000000000..8b70aa66a28de529c585d8c7b642b5553c92da11 --- /dev/null +++ b/robots/fetch_arm.urdf @@ -0,0 +1,367 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robots/fetch_arm_retract.urdf 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