add spot only arm for IK

meshesColored/objs/arm0.link_el0.mtl

@@ -0,0 +1,22 @@
+# File generated by ImageToStl.com - Free Image and 3D model conversion tools
+
+newmtl mat0
+Ns 0
+Ka 1.0 1.0 1.0
+Kd 0.00902 0.00902 0.00902
+Ks 0.0 0.0 0.0
+Ke 0 0 0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat1
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.8 0.8 0.8
+Ks 0.0 0.0 0.0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1.0
+illum 1
+

meshesColored/objs/arm0.link_el1.mtl

@@ -0,0 +1,32 @@
+# File generated by ImageToStl.com - Free Image and 3D model conversion tools
+
+newmtl mat0
+Ns 0
+Ka 1.0 1.0 1.0
+Kd 0.00902 0.00902 0.00902
+Ks 0.0 0.0 0.0
+Ke 0 0 0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat1
+Ns 0
+Ka 1.0 1.0 1.0
+Kd 0.8 0.50145 0.01499
+Ks 0.0 0.0 0.0
+Ke 0 0 0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat2
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.8 0.8 0.8
+Ks 0.0 0.0 0.0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1.0
+illum 1
+

meshesColored/objs/arm0.link_fngr.mtl

@@ -0,0 +1,32 @@
+# File generated by ImageToStl.com - Free Image and 3D model conversion tools
+
+newmtl mat0
+Ns 0
+Ka 1.0 1.0 1.0
+Kd 0.00902 0.00902 0.00902
+Ks 0.0 0.0 0.0
+Ke 0 0 0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat1
+Ns 0
+Ka 1.0 1.0 1.0
+Kd 0.8 0.50145 0.01499
+Ks 0.0 0.0 0.0
+Ke 0 0 0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat2
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.8 0.8 0.8
+Ks 0.0 0.0 0.0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1.0
+illum 1
+

meshesColored/objs/arm0.link_hr0.mtl

@@ -0,0 +1,32 @@
+# File generated by ImageToStl.com - Free Image and 3D model conversion tools
+
+newmtl mat0
+Ns 0
+Ka 1.0 1.0 1.0
+Kd 0.00902 0.00902 0.00902
+Ks 0.0 0.0 0.0
+Ke 0 0 0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat1
+Ns 0
+Ka 1.0 1.0 1.0
+Kd 0.8 0.50145 0.01499
+Ks 0.0 0.0 0.0
+Ke 0 0 0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat2
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.8 0.8 0.8
+Ks 0.0 0.0 0.0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1.0
+illum 1
+

meshesColored/objs/arm0.link_sh0.mtl

@@ -0,0 +1,22 @@
+# File generated by ImageToStl.com - Free Image and 3D model conversion tools
+
+newmtl mat0
+Ns 0
+Ka 1.0 1.0 1.0
+Kd 0.00902 0.00902 0.00902
+Ks 0.0 0.0 0.0
+Ke 0 0 0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat1
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.8 0.8 0.8
+Ks 0.0 0.0 0.0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1.0
+illum 1
+

meshesColored/objs/arm0.link_sh1.mtl

@@ -0,0 +1,22 @@
+# File generated by ImageToStl.com - Free Image and 3D model conversion tools
+
+newmtl mat0
+Ns 0
+Ka 1.0 1.0 1.0
+Kd 0.00902 0.00902 0.00902
+Ks 0.0 0.0 0.0
+Ke 0 0 0
+Ni 1.0
+d 1
+illum 1
+
+newmtl mat1
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.8 0.8 0.8
+Ks 0.0 0.0 0.0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1.0
+illum 1
+

meshesColored/objs/arm0.link_sh1.obj

@@ -0,0 +1,1065 @@
+# File generated by ImageToStl.com - Free Image and 3D model conversion tools
+
+mtllib arm0.link_sh1.mtl
+
+# arm0link_sh1_0
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meshesColored/objs/arm0.link_wr1.mtl

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meshesColored/objs/base.mtl

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+f 199//429 198//429 196//429
+f 184//430 185//417 182//416
+# Vertices: 214, normals: 430, texture coordinates: 0, faces: 375
+

meshesColored/objs/hr.uleg.mtl

@@ -0,0 +1,23 @@
+# File generated by ImageToStl.com - Free Image and 3D model conversion tools
+
+newmtl mat0
+Ns 0
+Ka 1.0 1.0 1.0
+Kd 1 1 1
+Ks 0.0 0.0 0.0
+Ke 0 0 0
+Ni 1.0
+d 1
+illum 1
+map_Kd flipy_20dc7943-aba1-4052-8edc-7f90fb9d52d2.png
+
+newmtl mat1
+Ns 250
+Ka 1.0 1.0 1.0
+Kd 0.8 0.8 0.8
+Ks 0.0 0.0 0.0
+Ke 0.0 0.0 0.0
+Ni 1.0
+d 1.0
+illum 1
+

urdf/spot_onlyarm.urdf

@@ -0,0 +1,190 @@
+<robot name="spot">
+  <link name="base">
+    <inertial>
+      <origin rpy="1.56 0 0" xyz="0.0 0.0 0.0" />
+      <!-- note: imprecise estimate of interial properties-->
+      <mass value="70.1294" />
+      <inertia ixx="1.5" ixy="0.0" ixz="0.0" iyy="1.5" iyz="0.0" izz="0.5" />
+    </inertial>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshesColored/objs/base.obj"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshesColored/objs/base.obj"/>
+      </geometry>
+</visual>
+  </link>
+  <link name="arm0.link_sh0">
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshesColored/objs/arm0.link_sh0.obj"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshesColored/objs/arm0.link_sh0.obj"/>
+      </geometry>
+ </visual>
+  </link>
+  <joint name="arm0.sh0" type="revolute">
+    <origin xyz="0.292 0.0 0.188" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <parent link="base"/>
+    <child link="arm0.link_sh0"/>
+     <limit effort="1000" velocity="1000.00" lower="-2.61799387799149441136" upper="3.14159265358979311599"/>
+  </joint>
+  <link name="arm0.link_sh1">
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshesColored/objs/arm0.link_sh1.obj"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshesColored/objs/arm0.link_sh1.obj"/>
+      </geometry>
+</visual>
+  </link>
+  <joint name="arm0.sh1" type="revolute">
+    <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="arm0.link_sh0"/>
+    <child link="arm0.link_sh1"/>
+     <limit effort="1000" velocity="1000.00" lower="-3.14159265358979311599" upper="0.52359877559829881565"/>
+  </joint>
+  <link name="arm0.link_hr0">
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshesColored/objs/arm0.link_hr0.obj"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshesColored/objs/arm0.link_hr0.obj"/>
+      </geometry>
+</visual>
+  </link>
+  <joint name="arm0.hr0" type="revolute">
+    <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="arm0.link_sh1"/>
+    <child link="arm0.link_hr0"/>
+     <limit effort="1000" velocity="1000.00" lower="-1e6" upper="1e6"/>
+  </joint>
+  <link name="arm0.link_el0">
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshesColored/objs/arm0.link_el0.obj"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshesColored/objs/arm0.link_el0.obj"/>
+      </geometry>
+</visual>
+  </link>
+  <joint name="arm0.el0" type="revolute">
+    <origin xyz="0.3385 0 0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="arm0.link_hr0"/>
+    <child link="arm0.link_el0"/>
+     <limit effort="1000" velocity="1000.00" lower="0" upper="3.14159265358979311599"/>
+  </joint>
+  <link name="arm0.link_el1">
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshesColored/objs/arm0.link_el1.obj"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshesColored/objs/arm0.link_el1.obj"/>
+      </geometry>
+</visual>
+  </link>
+  <joint name="arm0.el1" type="revolute">
+    <origin xyz="0.40330 0.0 0.0750" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="arm0.link_el0"/>
+    <child link="arm0.link_el1"/>
+     <limit effort="1000" velocity="1000.00" lower="-2.79252680319092716487" upper="2.79252680319092716487"/>
+  </joint>
+  <link name="arm0.link_wr0">
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshesColored/objs/arm0.link_wr0.obj"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshesColored/objs/arm0.link_wr0.obj"/>
+      </geometry>
+</visual>
+  </link>
+  <joint name="arm0.wr0" type="revolute">
+    <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+    <axis xyz="0 1 0"/>
+    <parent link="arm0.link_el1"/>
+    <child link="arm0.link_wr0"/>
+     <limit effort="1000" velocity="1000.00" lower="-1.83259571459404613236" upper="1.83259571459404613236"/>
+  </joint>
+  <link name="arm0.link_wr1">
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshesColored/objs/arm0.link_wr1.obj"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshesColored/objs/arm0.link_wr1.obj"/>
+      </geometry>
+</visual>
+  </link>
+  <joint name="arm0.wr1" type="revolute">
+    <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+    <axis xyz="1 0 0"/>
+    <parent link="arm0.link_wr0"/>
+    <child link="arm0.link_wr1"/>
+     <limit effort="1000" velocity="1000.00" lower="-2.87979326579064354163" upper="2.87979326579064354163"/>
+  </joint>
+  <link name="arm0.link_fngr">
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshesColored/objs/arm0.link_fngr.obj"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="../meshesColored/objs/arm0.link_fngr.obj"/>
+      </geometry>
+</visual>
+  </link>
+  <joint name="arm0.f1x" type="revolute">
+    <origin xyz="0.11745 0 0.014820" rpy="0 0 0"/>
+    <axis xyz="0.0 1.0 0.0"/>
+    <parent link="arm0.link_wr1"/>
+    <child link="arm0.link_fngr"/>
+     <limit effort="1000" velocity="1000.00" lower="-1.57" upper="0.0"/>
+  </joint>
+</robot>