file_path
stringlengths 21
224
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stringlengths 0
80.8M
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|---|---|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_nut_m12_loose.urdf
|
<?xml version="1.0"?>
<robot name="factory_nut_m12_loose">
<link name="factory_nut_m12_loose">
<visual>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_nut_m12_loose_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_nut_m12_loose_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_round_hole_12mm.urdf
|
<?xml version="1.0"?>
<robot name="factory_round_hole_12mm">
<link name="factory_round_hole_12mm">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_round_hole_12mm_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_round_hole_12mm_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_bolt_m8_tight.urdf
|
<?xml version="1.0"?>
<robot name="factory_bolt_m8_tight">
<link name="factory_bolt_m8_tight">
<visual>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_bolt_m8_tight.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_bolt_m8_tight.obj"/>
</geometry>
<sdf resolution="512"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_nut_m16_tight.urdf
|
<?xml version="1.0"?>
<robot name="factory_nut_m16_tight">
<link name="factory_nut_m16_tight">
<visual>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_nut_m16_tight_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_nut_m16_tight_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_nut_m16_loose.urdf
|
<?xml version="1.0"?>
<robot name="factory_nut_m16_loose">
<link name="factory_nut_m16_loose">
<visual>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_nut_m16_loose_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_nut_m16_loose_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_rectangular_hole_12mm.urdf
|
<?xml version="1.0"?>
<robot name="factory_rectangular_hole_12mm">
<link name="factory_rectangular_hole_12mm">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_rectangular_hole_12mm_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_rectangular_hole_12mm_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_rectangular_peg_12mm_tight.urdf
|
<?xml version="1.0"?>
<robot name="factory_rectangular_peg_12mm_tight">
<link name="factory_rectangular_peg_12mm_tight">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_rectangular_peg_12mm_tight_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_rectangular_peg_12mm_tight_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_round_peg_8mm_loose.urdf
|
<?xml version="1.0"?>
<robot name="factory_round_peg_8mm_loose">
<link name="factory_round_peg_8mm_loose">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_round_peg_8mm_loose.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_round_peg_8mm_loose.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_nut_m4_loose.urdf
|
<?xml version="1.0"?>
<robot name="factory_nut_m4_loose">
<link name="factory_nut_m4_loose">
<visual>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_nut_m4_loose_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_nut_m4_loose_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_usb_plug.urdf
|
<?xml version="1.0"?>
<robot name="factory_usb_plug">
<link name="factory_usb_plug">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_usb_plug_viz.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_usb_plug_coll.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_bolt_m16_loose.urdf
|
<?xml version="1.0"?>
<robot name="factory_bolt_m16_loose">
<link name="factory_bolt_m16_loose">
<visual>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_bolt_m16_loose.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_bolt_m16_loose.obj"/>
</geometry>
<sdf resolution="512"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_bolt_m4_loose.urdf
|
<?xml version="1.0"?>
<robot name="factory_bolt_m4_loose">
<link name="factory_bolt_m4_loose">
<visual>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_bolt_m4_loose.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_bolt_m4_loose.obj"/>
</geometry>
<sdf resolution="512"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_round_peg_8mm_tight.urdf
|
<?xml version="1.0"?>
<robot name="factory_round_peg_8mm_tight">
<link name="factory_round_peg_8mm_tight">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_round_peg_8mm_tight.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_round_peg_8mm_tight.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_bolt_m20_tight.urdf
|
<?xml version="1.0"?>
<robot name="factory_bolt_m20_tight">
<link name="factory_bolt_m20_tight">
<visual>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_bolt_m20_tight.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_bolt_m20_tight.obj"/>
</geometry>
<sdf resolution="512"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_dsub_plug.urdf
|
<?xml version="1.0"?>
<robot name="factory_dsub_plug">
<link name="factory_dsub_plug">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_dsub_plug_viz.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_dsub_plug_coll.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_nut_m4_tight.urdf
|
<?xml version="1.0"?>
<robot name="factory_nut_m4_tight">
<link name="factory_nut_m4_tight">
<visual>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_nut_m4_tight_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_nut_m4_tight_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_rectangular_peg_16mm_tight.urdf
|
<?xml version="1.0"?>
<robot name="factory_rectangular_peg_16mm_tight">
<link name="factory_rectangular_peg_16mm_tight">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_rectangular_peg_16mm_tight_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_rectangular_peg_16mm_tight_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_round_peg_4mm_loose.urdf
|
<?xml version="1.0"?>
<robot name="factory_round_peg_4mm_loose">
<link name="factory_round_peg_4mm_loose">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_round_peg_4mm_loose.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_round_peg_4mm_loose.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_rectangular_hole_4mm.urdf
|
<?xml version="1.0"?>
<robot name="factory_rectangular_hole_4mm">
<link name="factory_rectangular_hole_4mm">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_rectangular_hole_4mm_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_rectangular_hole_4mm_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_round_hole_16mm.urdf
|
<?xml version="1.0"?>
<robot name="factory_round_hole_16mm">
<link name="factory_round_hole_16mm">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_round_hole_16mm_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_round_hole_16mm_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_nut_m8_loose.urdf
|
<?xml version="1.0"?>
<robot name="factory_nut_m8_loose">
<link name="factory_nut_m8_loose">
<visual>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_nut_m8_loose_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_nut_m8_loose_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_round_peg_16mm_tight.urdf
|
<?xml version="1.0"?>
<robot name="factory_round_peg_16mm_tight">
<link name="factory_round_peg_16mm_tight">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_round_peg_16mm_tight.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_round_peg_16mm_tight.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_bnc_socket.urdf
|
<?xml version="1.0"?>
<robot name="factory_bnc_socket">
<link name="factory_bnc_socket">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_bnc_socket_viz.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_bnc_socket_coll.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_gear_base_tight.urdf
|
<?xml version="1.0"?>
<robot name="factory_gear_base_tight">
<link name="factory_gear_base_tight">
<visual>
<geometry>
<mesh filename="../mesh/factory_gears/factory_gear_base_tight_space_5e-4_subdiv_4x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_gears/factory_gear_base_tight_space_5e-4_subdiv_4x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_round_hole_8mm.urdf
|
<?xml version="1.0"?>
<robot name="factory_round_hole_8mm">
<link name="factory_round_hole_8mm">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_round_hole_8mm_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_round_hole_8mm_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_round_peg_12mm_tight.urdf
|
<?xml version="1.0"?>
<robot name="factory_round_peg_12mm_tight">
<link name="factory_round_peg_12mm_tight">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_round_peg_12mm_tight.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_round_peg_12mm_tight.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_gear_medium.urdf
|
<?xml version="1.0"?>
<robot name="factory_gear_medium">
<link name="factory_gear_medium">
<visual>
<geometry>
<mesh filename="../mesh/factory_gears/factory_gear_medium_space_5e-4.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_gears/factory_gear_medium_space_5e-4.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_franka.urdf
|
<?xml version="1.0" ?>
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="panda_link0">
<visual>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/visual/link0.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/collision/link0.obj"/>
</geometry>
</collision>
</link>
<link name="panda_link1">
<visual>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/visual/link1.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/collision/link1.obj"/>
</geometry>
</collision>
</link>
<joint name="panda_joint1" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.333"/>
<parent link="panda_link0"/>
<child link="panda_link1"/>
<axis xyz="0 0 1"/>
<dynamics damping="10.0"/>
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
</joint>
<link name="panda_link2">
<visual>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/visual/link2.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/collision/link2.obj"/>
</geometry>
</collision>
</link>
<joint name="panda_joint2" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
<parent link="panda_link1"/>
<child link="panda_link2"/>
<axis xyz="0 0 1"/>
<dynamics damping="10.0"/>
<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
</joint>
<link name="panda_link3">
<visual>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/visual/link3.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/collision/link3.obj"/>
</geometry>
</collision>
</link>
<joint name="panda_joint3" type="revolute">
<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
<parent link="panda_link2"/>
<child link="panda_link3"/>
<axis xyz="0 0 1"/>
<dynamics damping="10.0"/>
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
</joint>
<link name="panda_link4">
<visual>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/visual/link4.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/collision/link4.obj"/>
</geometry>
</collision>
</link>
<joint name="panda_joint4" type="revolute">
<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
<parent link="panda_link3"/>
<child link="panda_link4"/>
<axis xyz="0 0 1"/>
<dynamics damping="10.0"/>
<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
</joint>
<link name="panda_link5">
<visual>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/visual/link5.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/collision/link5.obj"/>
</geometry>
</collision>
</link>
<joint name="panda_joint5" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
<parent link="panda_link4"/>
<child link="panda_link5"/>
<axis xyz="0 0 1"/>
<dynamics damping="10.0"/>
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
</joint>
<link name="panda_link6">
<visual>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/visual/link6.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/collision/link6.obj"/>
</geometry>
</collision>
</link>
<joint name="panda_joint6" type="revolute">
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<parent link="panda_link5"/>
<child link="panda_link6"/>
<axis xyz="0 0 1"/>
<dynamics damping="10.0"/>
<limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
</joint>
<link name="panda_link7">
<visual>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/visual/link7.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/collision/link7.obj"/>
</geometry>
</collision>
</link>
<joint name="panda_joint7" type="revolute">
<origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
<parent link="panda_link6"/>
<child link="panda_link7"/>
<axis xyz="0 0 1"/>
<!--<dynamics damping="10.0"/>-->
<!--<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>-->
</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"/>
<axis xyz="0 0 0"/>
</joint>
-->
<joint name="panda_hand_joint" type="fixed">
<parent link="panda_link7"/>
<child link="panda_hand"/>
<origin rpy="0 0 -0.785398163397" xyz="0 0 0.107"/>
</joint>
<link name="panda_hand">
<visual>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/visual/hand.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/collision/hand.obj"/>
</geometry>
</collision>
</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"/>
<dynamics damping="10.0"/>
<limit effort="200" lower="0.0" upper="0.04" velocity="0.2"/>
</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"/>
<dynamics damping="10.0"/>
<limit effort="200" lower="0.0" upper="0.04" velocity="0.2"/>
</joint>
<link name="panda_leftfinger">
<visual>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/visual/finger.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_franka_table/factory_franka_finger_coll_subdiv_6x.obj"/>
</geometry>
</collision>
</link>
<link name="panda_rightfinger">
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/visual/finger.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="../mesh/factory_franka_table/factory_franka_finger_coll_subdiv_6x.obj"/>
</geometry>
</collision>
</link>
<!--Used for calculating pose and Jacobian.
Joint connects hand to dummy link located at midpoint between bottoms of fingertips (when centered).-->
<joint name="panda_fingertip_centered_joint" type="fixed">
<parent link="panda_hand"/>
<child link="panda_fingertip_centered"/>
<!--0.0584 (franka_hand_length) + 0.04486700 (franka_finger_length) + 0.01760800 * 0.5 (franka_fingerpad_length * 0.5) = 0.112071-->
<origin rpy="0 0 0" xyz="0 0 0.112071"/>
</joint>
<link name="panda_fingertip_centered"/>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_rectangular_peg_16mm_loose.urdf
|
<?xml version="1.0"?>
<robot name="factory_rectangular_peg_16mm_loose">
<link name="factory_rectangular_peg_16mm_loose">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_rectangular_peg_16mm_loose_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_rectangular_peg_16mm_loose_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_round_hole_4mm.urdf
|
<?xml version="1.0"?>
<robot name="factory_round_hole_4mm">
<link name="factory_round_hole_4mm">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_round_hole_4mm_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_round_hole_4mm_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_bolt_m4_tight.urdf
|
<?xml version="1.0"?>
<robot name="factory_bolt_m4_tight">
<link name="factory_bolt_m4_tight">
<visual>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_bolt_m4_tight.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_bolt_m4_tight.obj"/>
</geometry>
<sdf resolution="512"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_bnc_plug.urdf
|
<?xml version="1.0"?>
<robot name="factory_bnc_plug">
<link name="factory_bnc_plug">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_bnc_plug_inner_viz.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_bnc_plug_inner_coll.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_rectangular_peg_4mm_loose.urdf
|
<?xml version="1.0"?>
<robot name="factory_rectangular_peg_4mm_loose">
<link name="factory_rectangular_peg_4mm_loose">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_rectangular_peg_4mm_loose_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_rectangular_peg_4mm_loose_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_nut_m20_loose.urdf
|
<?xml version="1.0"?>
<robot name="factory_nut_m20_loose">
<link name="factory_nut_m20_loose">
<visual>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_nut_m20_loose_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_nut_m20_loose_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_nut_m12_tight.urdf
|
<?xml version="1.0"?>
<robot name="factory_nut_m12_tight">
<link name="factory_nut_m12_tight">
<visual>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_nut_m12_tight_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_nut_m12_tight_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_rectangular_peg_8mm_tight.urdf
|
<?xml version="1.0"?>
<robot name="factory_rectangular_peg_8mm_tight">
<link name="factory_rectangular_peg_8mm_tight">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_rectangular_peg_8mm_tight_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_rectangular_peg_8mm_tight_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_nut_m20_tight.urdf
|
<?xml version="1.0"?>
<robot name="factory_nut_m20_tight">
<link name="factory_nut_m20_tight">
<visual>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_nut_m20_tight_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_nut_m20_tight_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_rectangular_hole_16mm.urdf
|
<?xml version="1.0"?>
<robot name="factory_rectangular_hole_16mm">
<link name="factory_rectangular_hole_16mm">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_rectangular_hole_16mm_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_rectangular_hole_16mm_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_bolt_m20_loose.urdf
|
<?xml version="1.0"?>
<robot name="factory_bolt_m20_loose">
<link name="factory_bolt_m20_loose">
<visual>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_bolt_m20_loose.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_bolt_m20_loose.obj"/>
</geometry>
<sdf resolution="512"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_round_peg_4mm_tight.urdf
|
<?xml version="1.0"?>
<robot name="factory_round_peg_4mm_tight">
<link name="factory_round_peg_4mm_tight">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_round_peg_4mm_tight.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_round_peg_4mm_tight.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_nut_m8_tight.urdf
|
<?xml version="1.0"?>
<robot name="factory_nut_m8_tight">
<link name="factory_nut_m8_tight">
<visual>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_nut_m8_tight_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_nut_m8_tight_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_rectangular_peg_4mm_tight.urdf
|
<?xml version="1.0"?>
<robot name="factory_rectangular_peg_4mm_tight">
<link name="factory_rectangular_peg_4mm_tight">
<visual>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_rectangular_peg_4mm_tight_subdiv_3x.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_insertion/factory_rectangular_peg_4mm_tight_subdiv_3x.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_bolt_m12_loose.urdf
|
<?xml version="1.0"?>
<robot name="factory_bolt_m12_loose">
<link name="factory_bolt_m12_loose">
<visual>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_bolt_m12_loose.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_bolt_m12_loose.obj"/>
</geometry>
<sdf resolution="512"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_bolt_m12_tight.urdf
|
<?xml version="1.0"?>
<robot name="factory_bolt_m12_tight">
<link name="factory_bolt_m12_tight">
<visual>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_bolt_m12_tight.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_bolt_m12_tight.obj"/>
</geometry>
<sdf resolution="512"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/factory/urdf/factory_bolt_m8_loose.urdf
|
<?xml version="1.0"?>
<robot name="factory_bolt_m8_loose">
<link name="factory_bolt_m8_loose">
<visual>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_bolt_m8_loose.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/factory_nut_bolt/factory_bolt_m8_loose.obj"/>
</geometry>
<sdf resolution="512"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/cube.urdf
|
<?xml version="1.0"?>
<robot name="object">
<link name="object">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
</collision>
<inertial>
<mass value="0.5"/>
<inertia ixx="0.05" ixy="0.0" ixz="0.0" iyy="0.05" iyz="0.0" izz="0.05"/>
</inertial>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/icosphere.urdf
|
<?xml version="1.0" ?>
<robot name="isosphere">
<link name="world">
</link>
<joint name = "rail" type = "prismatic">
<parent link="world"/>
<child link="arm"/>
<origin xyz="0.0 0.0 0.0"/>
<axis xyz="0 1 0"/>
<limit lower="-2.0" upper="2.0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="arm">
<collision>
<origin xyz="0 2.0 0" rpy="0 0 0"/>
<geometry>
<box size="0.1 2.0 0.1"/>
</geometry>
</collision>
<collision>
<origin xyz="0 1.0 0" rpy="0 0 0"/>
<geometry>
<box size="2.0 0.5 2.0"/>
</geometry>
</collision>
</link>
<joint name = "attach" type = "fixed">
<origin xyz = "0.0 0.0 0.0" rpy = "0 0 0"/>
<parent link = "arm"/>
<child link = "soft"/>
</joint>
<link name="soft">
<fem>
<origin rpy="0.0 0.0 0.0" xyz="0 -0.5 0"/>
<density value="1000"/>
<youngs value="1e5"/>
<poissons value="0.45"/>
<damping value="0.0"/>
<attachDistance value="0.0"/>
<tetmesh filename="icosphere.tet"/>
</fem>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/table_narrow.urdf
|
<?xml version="1.0"?>
<robot name="box">
<link name="box">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.475 0.4 0.3"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.475 0.4 0.3"/>
</geometry>
</collision>
<inertial>
<mass value="500"/>
<friction value="1.0"/>
<inertia ixx="1000.0" ixy="0.0" ixz="0.0" iyy="1000.0" iyz="0.0" izz="1000.0"/>
</inertial>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/table_wide.urdf
|
<?xml version="1.0"?>
<robot name="box">
<link name="box">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="1.1 0.4 0.3"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="1.1 0.4 0.3"/>
</geometry>
</collision>
<inertial>
<mass value="500"/>
<friction value="1.0"/>
<inertia ixx="1000.0" ixy="0.0" ixz="0.0" iyy="1000.0" iyz="0.0" izz="1000.0"/>
</inertial>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/cartpole.urdf
|
<?xml version="1.0"?>
<robot name="cartpole">
<link name="slider">
<visual>
<geometry>
<box size="0.03 8 0.03"/>
</geometry>
<material name="slider_mat">
<color rgba="0.9 0.6 0.2 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.03 8 0.03"/>
</geometry>
</collision>
</link>
<link name="cart">
<visual>
<geometry>
<box size="0.2 0.25 0.2"/>
</geometry>
<material name="cart_mat">
<color rgba="0.3 0.5 0.7 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.2 0.25 0.2"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
</inertial>
</link>
<link name="pole">
<visual>
<geometry>
<box size="0.04 0.06 1.0"/>
</geometry>
<origin xyz="0 0 0.47"/>
<material name="pole_mat">
<color rgba="0.1 0.1 0.3 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.04 0.06 1.0"/>
</geometry>
<origin xyz="0 0 0.47"/>
</collision>
<inertial>
<mass value="1"/>
<origin xyz="0 0 0.47"/>
</inertial>
</link>
<joint name="slider_to_cart" type="prismatic">
<axis xyz="0 1 0"/>
<origin xyz="0 0 0"/>
<parent link="slider"/>
<child link="cart"/>
<limit effort="1000.0" lower="-4" upper="4" velocity="100"/>
</joint>
<joint name="cart_to_pole" type="continuous">
<axis xyz="1 0 0"/>
<origin xyz="0.12 0 0"/>
<parent link="cart"/>
<child link="pole"/>
<limit effort="1000.0" velocity="8"/>
</joint>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/square_table.urdf
|
<?xml version="1.0"?>
<robot name="box">
<link name="box">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.4 0.4 0.3"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.4 0.4 0.3"/>
</geometry>
</collision>
<inertial>
<mass value="500"/>
<friction value="1.0"/>
<inertia ixx="1000.0" ixy="0.0" ixz="0.0" iyy="1000.0" iyz="0.0" izz="1000.0"/>
</inertial>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/ball_tennis.urdf
|
<?xml version="1.0"?><robot name="ball"><material name="Red"><color rgba="1.0 0.0 0.0 1.0"/></material><link name="ball"><visual><origin xyz="0 0 0"/><geometry><sphere radius="0.027700"/></geometry><material name="Red"/></visual><collision><origin xyz="0 0 0"/> <geometry><sphere radius="0.027700"/></geometry></collision></link></robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/small_ball.urdf
|
<?xml version="1.0"?>
<robot name="ball">
<link name="ball">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<sphere radius="0.01"/>
</geometry>
</collision>
<inertial>
<mass value="0.5"/>
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
</inertial>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/ball.urdf
|
<?xml version="1.0"?>
<robot name="ball">
<link name="ball">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<sphere radius="0.2"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<sphere radius="0.2"/>
</geometry>
</collision>
<inertial>
<mass value="0.5"/>
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
</inertial>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/CMakeLists.txt
|
cmake_minimum_required(VERSION 2.8.3)
project(sektion_cabinet_model)
find_package(catkin REQUIRED)
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES sektion_cabinet_model
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
###########
## Build ##
###########
include_directories(
# include
# ${catkin_INCLUDE_DIRS}
)
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/package.xml
|
<?xml version="1.0"?>
<package format="2">
<name>sektion_cabinet_model</name>
<version>0.0.0</version>
<description>The cabinet_model package</description>
<maintainer email="[email protected]">Jan Issacv</maintainer>
<license>(c) Nvidia Corp</license>
<buildtool_depend>catkin</buildtool_depend>
<export>
</export>
</package>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/launch/sektion_cabinet_joint_state_publisher.launch
|
<?xml version="1.0"?>
<launch>
<arg name="gui" default="True" />
<param name="robot_description" textfile="$(find sektion_cabinet_model)/urdf/sektion_cabinet.urdf" />
<node name="joint_state_publisher"
pkg="joint_state_publisher"
type="joint_state_publisher"
if="$(arg gui)">
<param name="use_gui" value="True"/>
<remap from="/joint_states" to="/tracker/sektion_cabinet/joint_states"/>
</node>
</launch>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/launch/sektion_cabinet_rviz.launch
|
<?xml version="1.0"?>
<launch>
<arg name="gui" default="False" />
<arg name="publish_static_pose" default="False" />
<param name="robot_description" textfile="$(find sektion_cabinet_model)/urdf/sektion_cabinet.urdf" />
<node name="sektion_cabinet_pose_publisher"
pkg="tf"
type="static_transform_publisher"
args=".9 .15 .4 0 0 1 0 world sektion 30"
if="$(arg publish_static_pose)">
<remap from="/tf" to="/tracker/tf"/>
</node>
<node name="joint_state_publisher"
pkg="joint_state_publisher"
type="joint_state_publisher"
if="$(arg gui)">
<param name="use_gui" value="True"/>
<remap from="/joint_states" to="/tracker/sektion_cabinet/joint_states"/>
</node>
<node name="sektion_cabinet_tracker_state_publisher"
pkg="robot_state_publisher"
type="state_publisher">
<remap from="/tf" to="/tracker/tf"/>
<remap from="/tf_static" to="/tracker/tf_static"/>
<remap from="/joint_states" to="/tracker/sektion_cabinet/joint_states"/>
</node>
<node name="sektion_cabinet_rviz"
pkg="rviz"
type="rviz"
args="-d $(find sektion_cabinet_model)/config/sektion_cabinet_model.rviz">
<remap from="/tf" to="/tracker/tf"/>
<remap from="/tf_static" to="/tracker/tf_static"/>
</node>
</launch>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/meshes/drawer_convexdecomposition.wrl
|
#VRML V2.0 utf8
# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
NavigationInfo {
type [ "EXAMINE", "ANY" ]
}
Transform {
scale 1 1 1
translation 0 0 0
children
[
Shape
{
geometry IndexedFaceSet
{
creaseAngle .5
solid FALSE
coord Coordinate
{
point
[
0.246736 -0.334919 -0.04286, 0.2732 0.343763 0.058129, 0.250769 0.381796 0.064545, 0.250769 0.381796 -0.064286,
0.2732 -0.343696 -0.057857, 0.250769 -0.381796 0.064545, 0.2732 0.343763 -0.057869, 0.2732 -0.343696 0.058117,
0.245999 0.353094 0.045453, 0.250769 -0.381796 -0.064286, 0.245999 -0.353094 0.045453, 0.246736 0.334919 -0.04286,
-0.24594 -0.344106 -0.04286, -0.250343 -0.004807 0.045468, -0.259883 -0.004807 0.045468, -0.259883 -0.353127 0.045468,
-0.259883 -0.004807 -0.045208, -0.245317 0.00132 -0.04186, -0.245569 -0.353127 0.045468, -0.259883 -0.353127 -0.045208,
-0.259883 -0.004772 -0.045208, -0.245569 0.353162 0.045468, -0.259883 0.353162 0.045468, -0.259883 0.353162 -0.045208,
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|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/meshes/door_left.wrl
|
#VRML V2.0 utf8
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NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/meshes/door_right_nob.wrl
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NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/meshes/drawer.wrl
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NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/meshes/drawer_handle_convexdecomposition.wrl
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#VRML V2.0 utf8
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NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/meshes/sektion_convexdecomposition.wrl
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NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/meshes/door_left_nob.wrl
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NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/meshes/door_right.wrl
|
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NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/meshes/sektion.wrl
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#VRML V2.0 utf8
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NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/meshes/table_top.wrl
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#VRML V2.0 utf8
Group {
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NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/meshes/drawer_handle.wrl
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#VRML V2.0 utf8
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specularColor 0.7 0.7 1.0
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geometry IndexedFaceSet {
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NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/meshes/wavefront/door_left.wrl
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appearance Appearance
{
material Material
{
ambientIntensity 0.2
diffuseColor 0.9 0.9 0.9
specularColor .1 .1 .1
shininess .5
}
}
}
]
}
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NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/meshes/wavefront/door_right_nob.wrl
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appearance Appearance
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material Material
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|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/meshes/wavefront/door_left_nob.wrl
|
#VRML V2.0 utf8
# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
NavigationInfo {
type [ "EXAMINE", "ANY" ]
}
Transform {
scale 1 1 1
translation 0 0 0
children
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solid FALSE
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appearance Appearance
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material Material
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|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/meshes/wavefront/door_right.wrl
|
#VRML V2.0 utf8
# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
NavigationInfo {
type [ "EXAMINE", "ANY" ]
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scale 1 1 1
translation 0 0 0
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material Material
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|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/meshes/wavefront/sektion.wrl
|
#VRML V2.0 utf8
# Generated by VCGLIB, (C)Copyright 1999-2001 VCG, IEI-CNR
NavigationInfo {
type [ "EXAMINE", "ANY" ]
}
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scale 1 1 1
translation 0 0 0
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NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/meshes/wavefront/table_top.wrl
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#VRML V2.0 utf8
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NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/meshes/wavefront/drawer_handle.wrl
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]
}
appearance Appearance
{
material Material
{
ambientIntensity 0.2
diffuseColor 0.9 0.9 0.9
specularColor .1 .1 .1
shininess .5
}
}
}
]
}
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/config/sektion_cabinet_model.rviz
|
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /SektionCabinetModel1
- /SektionCabinetModel1/Status1
Splitter Ratio: 0.505813956
Tree Height: 565
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 0.600000024
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
door_left:
Alpha: 1
Show Axes: false
Show Trail: false
door_left_anchor_link:
Alpha: 1
Show Axes: false
Show Trail: false
door_left_joint_anchor_link:
Alpha: 1
Show Axes: false
Show Trail: false
door_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
door_right:
Alpha: 1
Show Axes: false
Show Trail: false
door_right_anchor_link:
Alpha: 1
Show Axes: false
Show Trail: false
door_right_joint_anchor_link:
Alpha: 1
Show Axes: false
Show Trail: false
door_right_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
drawer_bottom:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
drawer_top:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
sektion:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: SektionCabinetModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: sektion
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2.45080876
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.485398352
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 5.88358402
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 846
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000052a0000003efc0100000002fb0000000800540069006d006501000000000000052a0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003ba000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1322
X: 2125
Y: 125
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/urdf/sektion_cabinet_2.urdf
|
<?xml version="1.0"?>
<robot name="cabinet_sektion">
<material name="White"><color rgba="0.85 0.85 0.85 1.0"/></material>
<material name="Grey"><color rgba="0.6 0.6 0.6 1.0"/></material>
<material name="Front"><color rgba="0.4 0.4 0.4 1.0"/></material>
<!--
<link name="world"/>
<joint name="world_to_sektion" type="fixed">
<origin xyz="0.85 0 0.38" rpy="0 0 3.14159"/>
<parent link="world"/>
<child link="sektion"/>
</joint>
-->
<link name="sektion">
<!--inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial-->
<!--
<visual name="sektion_visual">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/sektion.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="White" />
</visual>
-->
<collision name="sektion_collision0">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/sektion_convexdecomposition0.obj" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<collision name="sektion_collision1">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/sektion_convexdecomposition1.obj" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<collision name="sektion_collision2">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/sektion_convexdecomposition2.obj" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<collision name="sektion_collision3">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/sektion_convexdecomposition3.obj" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<collision name="sektion_collision4">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/sektion_convexdecomposition4.obj" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<collision name="sektion_collision5">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/sektion_convexdecomposition5.obj" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<collision name="sektion_collision6">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/sektion_convexdecomposition6.obj" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<gazebo reference="link">
<selfCollide>false</selfCollide>
</gazebo>
</link>
<link name="drawer_top">
<visual name="drawer_top_visual">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/drawer.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="Front" />
</visual>
<collision name="drawer_top_collision0">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/drawer_convexdecomposition0.obj" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<collision name="drawer_top_collision1">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/drawer_convexdecomposition1.obj" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<collision name="drawer_top_collision2">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/drawer_convexdecomposition2.obj" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<collision name="drawer_top_collision3">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/drawer_convexdecomposition3.obj" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<collision name="drawer_top_collision4">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/drawer_convexdecomposition4.obj" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<collision name="drawer_top_collision5">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/drawer_convexdecomposition5.obj" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<collision name="drawer_top_collision6">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/drawer_convexdecomposition6.obj" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<gazebo reference="link">
<selfCollide>false</selfCollide>
</gazebo>
</link>
<link name="drawer_handle_top">
<visual name="drawer_handle_top_visual">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/drawer_handle.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="Grey" />
</visual>
<collision name="drawer_handle_top_collision">
<!--<origin xyz="0.305 0 0.01" rpy="1.575 0 0"/>-->
<!-- <origin xyz="0.303 0 0.01" rpy="1.575 0 0"/>
<geometry>
<box size="0.014 0.02 0.15"/>
</geometry> -->
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/drawer_handle_convexdecomposition.obj" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<!-- <collision>
<origin xyz="0.285 -0.07 0.01" rpy="0 0 0"/>
<geometry>
<box size="0.04 0.02 0.005"/>
</geometry>
</collision>
<collision>
<origin xyz="0.285 0.07 0.01" rpy="0 0 0"/>
<geometry>
<box size="0.04 0.02 0.005"/>
</geometry>
</collision> -->
<gazebo reference="link">
<selfCollide>false</selfCollide>
</gazebo>
<contact>
<lateral_friction value="2.0"/>
<spinning_friction value="0.6"/>
<inertia_scaling value="3.0"/>
</contact>
</link>
<link name="drawer_bottom">
<!--inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial-->
<visual name="drawer_bottom_visual">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/drawer.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="Front" />
</visual>
<collision name="drawer_bottom_collision">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/drawer_convexdecomposition.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="White" />
</collision>
<gazebo reference="link">
<selfCollide>false</selfCollide>
</gazebo>
</link>
<link name="drawer_handle_bottom">
<!--inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial-->
<visual name="drawer_top_visual">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/drawer_handle.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="Grey" />
</visual>
<collision name="drawer_top_collision">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/drawer_handle_convexdecomposition.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="White" />
</collision>
<gazebo reference="link">
<selfCollide>false</selfCollide>
</gazebo>
<contact>
<lateral_friction value="1.0"/>
<spinning_friction value="0.3"/>
<inertia_scaling value="3.0"/>
</contact>
</link>
<!--
<link name="door_right_anchor_link" >
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
</link>
<link name="door_right_joint_anchor_link" >
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
</link>
-->
<link name="door_right_link">
<!--inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial-->
<visual name="door_right_visual">
<origin rpy="0 0 0" xyz="0 -0.184706 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/door_right.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="Front" />
</visual>
<collision name="door_right_collision">
<origin rpy="0 0 0" xyz="0 -0.184706 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/door_right.stl" scale="1.0 1.0 1.0"/>
</geometry>
<material name="White" />
</collision>
<gazebo reference="link">
<selfCollide>false</selfCollide>
</gazebo>
</link>
<link name="door_right_nob_link">
<!--inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial-->
<visual name="door_right_nob_visual">
<origin rpy="0 0 0" xyz="0 -0.184706 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/door_right_nob.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="Grey" />
</visual>
<collision name="door_right_nob_collision">
<origin rpy="0 0 0" xyz="0 -0.184706 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/door_right_nob.stl" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<gazebo reference="link">
<selfCollide>false</selfCollide>
</gazebo>
</link>
<!--
<link name="door_right" />
<link name="door_left_anchor_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
</link>
<link name="door_left_joint_anchor_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
</link>
-->
<link name="door_left_link">
<!--inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial-->
<visual name="door_left_visual">
<origin rpy="0 0 0" xyz="0 0.184706 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/door_left.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="Front" />
</visual>
<collision name="door_left_collision">
<origin rpy="0 0 0" xyz="0 0.184706 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/door_left.stl" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<gazebo reference="link">
<selfCollide>false</selfCollide>
</gazebo>
</link>
<link name="door_left_nob_link">
<!--inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial-->
<visual name="door_left_nob_visual">
<origin rpy="0 0 0" xyz="0 0.184706 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/door_left_nob.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="Grey" />
</visual>
<collision name="door_left_nob_collision">
<origin rpy="0 0 0" xyz="0 0.184706 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/door_left_nob.stl" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<gazebo reference="link">
<selfCollide>false</selfCollide>
</gazebo>
</link>
<!--
<link name="door_left" />
<joint name="door_right_joint_fixed" type="fixed">
<parent link="sektion"/>
<child link="door_right_anchor_link"/>
<origin xyz="0.3162 0.3757 -0.12973" rpy="0 0 0"/>
</joint>
<joint name="door_right_shift_joint" type="prismatic">
<parent link="door_right_anchor_link"/>
<child link="door_right_joint_anchor_link"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="1000.0" lower="-0.015" upper="0" velocity="0.0"/>
<mimic joint="door_right_joint" multiplier="-0.009554" offset="0" />
<dynamics damping="0.05" friction="0.025"/>
</joint>
-->
<joint name="door_right_joint" type="revolute">
<parent link="sektion"/>
<child link="door_right_link"/>
<origin xyz="0.3162 0.3757 -0.12973" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="0" upper="1.57" velocity="0.1"/>
<dynamics damping="0.05" friction="0.025"/>
</joint>
<!--
<joint name="door_right_transform" type="fixed">
<parent link="door_right_link"/>
<child link="door_right"/>
<origin xyz="0 -.181 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
-->
<joint name="door_right_nob_transform" type="fixed">
<parent link="door_right_link"/>
<child link="door_right_nob_link"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<!--
<joint name="door_left_joint_fixed" type="fixed">
<parent link="sektion"/>
<child link="door_left_anchor_link"/>
<origin xyz="0.3162 -0.3757 -0.12973" rpy="0 0 0"/>
</joint>
<joint name="door_left_shift_joint" type="prismatic">
<parent link="door_left_anchor_link"/>
<child link="door_left_joint_anchor_link"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="1000.0" lower="-0.015" upper="0" velocity="0.0"/>
<mimic joint="door_left_joint" multiplier="-0.009554" offset="0" />
<dynamics damping="0.05" friction="0.025"/>
</joint>
-->
<joint name="door_left_joint" type="revolute">
<parent link="sektion"/>
<child link="door_left_link"/>
<origin xyz="0.3162 -0.3757 -0.12973" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="-1.57" upper="0." velocity="0.1"/>
<dynamics damping="0.05" friction="0.025"/>
</joint>
<!--
<joint name="door_left_transform" type="fixed">
<parent link="door_left_link"/>
<child link="door_left"/>
<origin xyz="0 .181 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
-->
<joint name="door_left_nob_transform" type="fixed">
<parent link="door_left_link"/>
<child link="door_left_nob_link"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="drawer_top_joint" type="prismatic">
<parent link="sektion"/>
<child link="drawer_top"/>
<origin xyz="0.0515 0 0.3172" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="1000.0" lower="0.0" upper="0.4" velocity="1."/>
<dynamics damping="0.01" friction="0.01"/>
</joint>
<joint name="drawer_handle_top_joint" type="fixed">
<parent link="drawer_top"/>
<child link="drawer_handle_top"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="1000.0" lower="0.0" upper="0.4" velocity="0.1"/>
</joint>
<!--
<link name="drawer_handle_top_grasp_frame" />
<joint name="drawer_handle_top_grasp_frame_joint" type="fixed">
<parent link="drawer_handle_top"/>
<child link="drawer_handle_top_grasp_frame"/>
<origin xyz="0.3 0 0.01" rpy="3.14159265359 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="1000.0" lower="0.0" upper="0.4" velocity="0.1"/>
</joint>
-->
<joint name="drawer_bottom_joint" type="prismatic">
<parent link="sektion"/>
<child link="drawer_bottom"/>
<origin xyz="0.0515 0 0.18795" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="1000.0" lower="0.0" upper="0.4" velocity="1.0"/>
<dynamics damping="0.01" friction="0.01"/>
</joint>
<joint name="drawer_handle_bottom_joint" type="fixed">
<parent link="drawer_bottom"/>
<child link="drawer_handle_bottom"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="1000.0" lower="0.0" upper="0.4" velocity="0.1"/>
</joint>
<!--
<link name="drawer_handle_bottom_grasp_frame" />
<joint name="drawer_handle_bottom_grasp_frame_joint" type="fixed">
<parent link="drawer_handle_bottom"/>
<child link="drawer_handle_bottom_grasp_frame"/>
<origin xyz="0.3 0 0.01" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="1000.0" lower="0.0" upper="0.4" velocity="0.1"/>
</joint>
-->
<gazebo reference="door_left_shift_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="door_right_shift_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="door_left_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="door_right_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="drawer_top_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="drawer_bottom_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!--
<transmission name="door_right_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="door_right_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="door_right_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</actuator>
</transmission>
<transmission name="door_left_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="door_left_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="door_left_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</actuator>
</transmission>
<transmission name="drawer_top_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="drawer_top_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="drawer_top_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</actuator>
</transmission>
<transmission name="drawer_bottom_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="drawer_bottom_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="drawer_bottom_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</actuator>
</transmission>
-->
<gazebo>
<selfCollide>false</selfCollide>
<material>Gazebo/Ivory</material>
<plugin name="gazebo_ros_controller" filename="libgazebo_ros_control.so">
<robotNamespace>/cabinet</robotNamespace>
<robotParam>/cabinet_description</robotParam>
</plugin>
</gazebo>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/sektion_cabinet_model/urdf/sektion_cabinet.urdf
|
<?xml version="1.0"?>
<robot name="cabinet_sektion">
<material name="White"><color rgba="0.85 0.85 0.85 1.0"/></material>
<material name="Grey"><color rgba="0.6 0.6 0.6 1.0"/></material>
<material name="Front"><color rgba="0.4 0.4 0.4 1.0"/></material>
<!--
<link name="world"/>
<joint name="world_to_sektion" type="fixed">
<origin xyz="0.85 0 0.38" rpy="0 0 3.14159"/>
<parent link="world"/>
<child link="sektion"/>
</joint>
-->
<link name="sektion">
<!--inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial-->
<visual name="sektion_visual">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/sektion.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="White" />
</visual>
<collision name="sektion_collision">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/sektion_convexdecomposition.obj" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<gazebo reference="link">
<selfCollide>false</selfCollide>
</gazebo>
</link>
<link name="drawer_top">
<!--inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial-->
<visual name="drawer_top_visual">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/drawer.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="Front" />
</visual>
<collision name="drawer_top_collision">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/drawer_convexdecomposition.obj" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<gazebo reference="link">
<selfCollide>false</selfCollide>
</gazebo>
</link>
<link name="drawer_handle_top">
<!--inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial-->
<visual name="drawer_handle_top_visual">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/drawer_handle.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="Grey" />
</visual>
<collision name="drawer_handle_top_collision">
<!--<origin xyz="0.305 0 0.01" rpy="1.575 0 0"/>-->
<origin xyz="0.303 0 0.01" rpy="1.575 0 0"/>
<geometry>
<box size="0.014 0.02 0.15"/>
<!--box size="0.02 0.02 0.15"/-->
<!--cylinder length="0.15" radius="0.01"/-->
<!--mesh filename="package://sektion_cabinet_model/meshes/drawer_handle_convexdecomposition.obj" scale="1.0 1.0 1.0"/-->
</geometry>
</collision>
<collision>
<origin xyz="0.285 -0.07 0.01" rpy="0 0 0"/>
<geometry>
<box size="0.04 0.02 0.005"/>
</geometry>
</collision>
<collision>
<origin xyz="0.285 0.07 0.01" rpy="0 0 0"/>
<geometry>
<box size="0.04 0.02 0.005"/>
</geometry>
</collision>
<gazebo reference="link">
<selfCollide>false</selfCollide>
</gazebo>
<contact>
<lateral_friction value="1.0"/>
<spinning_friction value="0.3"/>
<inertia_scaling value="3.0"/>
</contact>
</link>
<link name="drawer_bottom">
<!--inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial-->
<visual name="drawer_bottom_visual">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/drawer.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="Front" />
</visual>
<collision name="drawer_bottom_collision">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/drawer_convexdecomposition.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="White" />
</collision>
<gazebo reference="link">
<selfCollide>false</selfCollide>
</gazebo>
</link>
<link name="drawer_handle_bottom">
<!--inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial-->
<visual name="drawer_top_visual">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/drawer_handle.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="Grey" />
</visual>
<collision name="drawer_top_collision">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/drawer_handle_convexdecomposition.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="White" />
</collision>
<gazebo reference="link">
<selfCollide>false</selfCollide>
</gazebo>
<contact>
<lateral_friction value="1.0"/>
<spinning_friction value="0.3"/>
<inertia_scaling value="3.0"/>
</contact>
</link>
<!--
<link name="door_right_anchor_link" >
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
</link>
<link name="door_right_joint_anchor_link" >
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
</link>
-->
<link name="door_right_link">
<!--inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial-->
<visual name="door_right_visual">
<origin rpy="0 0 0" xyz="0 -0.184706 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/door_right.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="Front" />
</visual>
<collision name="door_right_collision">
<origin rpy="0 0 0" xyz="0 -0.184706 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/door_right.stl" scale="1.0 1.0 1.0"/>
</geometry>
<material name="White" />
</collision>
<gazebo reference="link">
<selfCollide>false</selfCollide>
</gazebo>
</link>
<link name="door_right_nob_link">
<!--inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial-->
<visual name="door_right_nob_visual">
<origin rpy="0 0 0" xyz="0 -0.184706 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/door_right_nob.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="Grey" />
</visual>
<collision name="door_right_nob_collision">
<origin rpy="0 0 0" xyz="0 -0.184706 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/door_right_nob.stl" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<gazebo reference="link">
<selfCollide>false</selfCollide>
</gazebo>
</link>
<!--
<link name="door_right" />
<link name="door_left_anchor_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
</link>
<link name="door_left_joint_anchor_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
</link>
-->
<link name="door_left_link">
<!--inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial-->
<visual name="door_left_visual">
<origin rpy="0 0 0" xyz="0 0.184706 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/door_left.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="Front" />
</visual>
<collision name="door_left_collision">
<origin rpy="0 0 0" xyz="0 0.184706 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/door_left.stl" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<gazebo reference="link">
<selfCollide>false</selfCollide>
</gazebo>
</link>
<link name="door_left_nob_link">
<!--inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial-->
<visual name="door_left_nob_visual">
<origin rpy="0 0 0" xyz="0 0.184706 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/door_left_nob.obj" scale="1.0 1.0 1.0"/>
</geometry>
<material name="Grey" />
</visual>
<collision name="door_left_nob_collision">
<origin rpy="0 0 0" xyz="0 0.184706 0"/>
<geometry>
<mesh filename="package://sektion_cabinet_model/meshes/door_left_nob.stl" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<gazebo reference="link">
<selfCollide>false</selfCollide>
</gazebo>
</link>
<!--
<link name="door_left" />
<joint name="door_right_joint_fixed" type="fixed">
<parent link="sektion"/>
<child link="door_right_anchor_link"/>
<origin xyz="0.3162 0.3757 -0.12973" rpy="0 0 0"/>
</joint>
<joint name="door_right_shift_joint" type="prismatic">
<parent link="door_right_anchor_link"/>
<child link="door_right_joint_anchor_link"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="1000.0" lower="-0.015" upper="0" velocity="0.0"/>
<mimic joint="door_right_joint" multiplier="-0.009554" offset="0" />
<dynamics damping="0.05" friction="0.025"/>
</joint>
-->
<joint name="door_right_joint" type="revolute">
<parent link="sektion"/>
<child link="door_right_link"/>
<origin xyz="0.3162 0.3757 -0.12973" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="0" upper="1.57" velocity="0.1"/>
<dynamics damping="0.05" friction="0.025"/>
</joint>
<!--
<joint name="door_right_transform" type="fixed">
<parent link="door_right_link"/>
<child link="door_right"/>
<origin xyz="0 -.181 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
-->
<joint name="door_right_nob_transform" type="fixed">
<parent link="door_right_link"/>
<child link="door_right_nob_link"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<!--
<joint name="door_left_joint_fixed" type="fixed">
<parent link="sektion"/>
<child link="door_left_anchor_link"/>
<origin xyz="0.3162 -0.3757 -0.12973" rpy="0 0 0"/>
</joint>
<joint name="door_left_shift_joint" type="prismatic">
<parent link="door_left_anchor_link"/>
<child link="door_left_joint_anchor_link"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="1000.0" lower="-0.015" upper="0" velocity="0.0"/>
<mimic joint="door_left_joint" multiplier="-0.009554" offset="0" />
<dynamics damping="0.05" friction="0.025"/>
</joint>
-->
<joint name="door_left_joint" type="revolute">
<parent link="sektion"/>
<child link="door_left_link"/>
<origin xyz="0.3162 -0.3757 -0.12973" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="-1.57" upper="0." velocity="0.1"/>
<dynamics damping="0.05" friction="0.025"/>
</joint>
<!--
<joint name="door_left_transform" type="fixed">
<parent link="door_left_link"/>
<child link="door_left"/>
<origin xyz="0 .181 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
-->
<joint name="door_left_nob_transform" type="fixed">
<parent link="door_left_link"/>
<child link="door_left_nob_link"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="drawer_top_joint" type="prismatic">
<parent link="sektion"/>
<child link="drawer_top"/>
<origin xyz="0.0515 0 0.3172" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="1000.0" lower="0.0" upper="0.4" velocity="1."/>
<dynamics damping="0.01" friction="0.01"/>
</joint>
<joint name="drawer_handle_top_joint" type="fixed">
<parent link="drawer_top"/>
<child link="drawer_handle_top"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="1000.0" lower="0.0" upper="0.4" velocity="0.1"/>
</joint>
<!--
<link name="drawer_handle_top_grasp_frame" />
<joint name="drawer_handle_top_grasp_frame_joint" type="fixed">
<parent link="drawer_handle_top"/>
<child link="drawer_handle_top_grasp_frame"/>
<origin xyz="0.3 0 0.01" rpy="3.14159265359 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="1000.0" lower="0.0" upper="0.4" velocity="0.1"/>
</joint>
-->
<joint name="drawer_bottom_joint" type="prismatic">
<parent link="sektion"/>
<child link="drawer_bottom"/>
<origin xyz="0.0515 0 0.18795" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="1000.0" lower="0.0" upper="0.4" velocity="1.0"/>
<dynamics damping="0.01" friction="0.01"/>
</joint>
<joint name="drawer_handle_bottom_joint" type="fixed">
<parent link="drawer_bottom"/>
<child link="drawer_handle_bottom"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="1000.0" lower="0.0" upper="0.4" velocity="0.1"/>
</joint>
<!--
<link name="drawer_handle_bottom_grasp_frame" />
<joint name="drawer_handle_bottom_grasp_frame_joint" type="fixed">
<parent link="drawer_handle_bottom"/>
<child link="drawer_handle_bottom_grasp_frame"/>
<origin xyz="0.3 0 0.01" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="1000.0" lower="0.0" upper="0.4" velocity="0.1"/>
</joint>
-->
<gazebo reference="door_left_shift_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="door_right_shift_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="door_left_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="door_right_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="drawer_top_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="drawer_bottom_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!--
<transmission name="door_right_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="door_right_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="door_right_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</actuator>
</transmission>
<transmission name="door_left_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="door_left_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="door_left_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</actuator>
</transmission>
<transmission name="drawer_top_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="drawer_top_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="drawer_top_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</actuator>
</transmission>
<transmission name="drawer_bottom_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="drawer_bottom_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="drawer_bottom_motor">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</actuator>
</transmission>
-->
<gazebo>
<selfCollide>false</selfCollide>
<material>Gazebo/Ivory</material>
<plugin name="gazebo_ros_controller" filename="libgazebo_ros_control.so">
<robotNamespace>/cabinet</robotNamespace>
<robotParam>/cabinet_description</robotParam>
</plugin>
</gazebo>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/tray/traybox.urdf
|
<robot name="tabletop">
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="tray_textured.obj" scale="0.5 0.5 0.5"/>
</geometry>
<material name="tray_material">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.005"/>
<geometry>
<box size=".6 .6 .02"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0.575469961 0" xyz="0.25 0 0.059"/>
<geometry>
<box size=".02 .6 .15"/>
</geometry>
</collision>
<collision>
<origin rpy="0 -0.575469961 0" xyz="-0.25 0 0.059"/>
<geometry>
<box size=".02 .6 .15"/>
</geometry>
</collision>
<collision>
<origin rpy="0.575469961 0 0" xyz="0 -0.25 0.059"/>
<geometry>
<box size=".6 .02 .15"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.575469961 0 0" xyz="0 0.25 0.059"/>
<geometry>
<box size=".6 .02 .15"/>
</geometry>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/tray/tray.urdf
|
<robot name="tray">
<link name="tray_base_link">
<contact>
<lateral_friction value="0.5"/>
<rolling_friction value="0.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="tray_textured4.obj" scale="0.5 0.5 0.5"/>
</geometry>
<material name="tray_material">
<color rgba="0.7 0.7 0.7 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="tray_textured4.obj" scale="0.5 0.5 0.5"/>
</geometry>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/tray/tray_textured2.urdf
|
<robot name="tabletop">
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="tray_textured2.obj" scale="0.5 0.5 0.5"/>
</geometry>
<material name="tray_material">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="tray_textured2.obj" scale="0.5 0.5 0.5"/>
</geometry>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/franka_description/meshes/visual/daetoobj.bat
|
SET PATH=%PATH%;C:/Tools/Assimp/bin/x64/
forfiles /m *.dae /c "cmd /c assimp export @file @fname.obj --verbose --show-log -ptv"
REM SET PATH=%PATH%;C:/Program Files/VCG/MeshLab/
REM forfiles /m *.dae /c "cmd /c meshlabserver -i @file -o @fname.obj -m vn vt
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/franka_description/meshes/collision/stltoobj.bat
|
REM SET PATH=%PATH%;C:/Tools/Assimp/bin/x64/
REM forfiles /m *.dae /c "cmd /c assimp export @file @fname.obj --verbose --show-log -ptv"
SET PATH=%PATH%;C:/Program Files/VCG/MeshLab/
forfiles /m *.stl /c "cmd /c meshlabserver -i @file -o @fname.obj -m vn -s stltoobj.mlx"
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/franka_description/robots/franka_panda.urdf
|
<?xml version="1.0" ?>
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="panda_link0">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link0.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link0.obj"/>
</geometry>
</collision>
</link>
<link name="panda_link1">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link1.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link1.obj"/>
</geometry>
</collision>
</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"/>
<dynamics damping="10.0"/>
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
</joint>
<link name="panda_link2">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link2.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link2.obj"/>
</geometry>
</collision>
</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="-1.57079632679 0 0" xyz="0 0 0"/>
<parent link="panda_link1"/>
<child link="panda_link2"/>
<axis xyz="0 0 1"/>
<dynamics damping="10.0"/>
<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
</joint>
<link name="panda_link3">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link3.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link3.obj"/>
</geometry>
</collision>
</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="1.57079632679 0 0" xyz="0 -0.316 0"/>
<parent link="panda_link2"/>
<child link="panda_link3"/>
<axis xyz="0 0 1"/>
<dynamics damping="10.0"/>
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
</joint>
<link name="panda_link4">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link4.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link4.obj"/>
</geometry>
</collision>
</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="1.57079632679 0 0" xyz="0.0825 0 0"/>
<parent link="panda_link3"/>
<child link="panda_link4"/>
<axis xyz="0 0 1"/>
<dynamics damping="10.0"/>
<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
<!-- something is weird with this joint limit config
<dynamics damping="10.0"/>
<limit effort="87" lower="-3.0" upper="0.087" velocity="2.1750"/> -->
</joint>
<link name="panda_link5">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link5.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link5.obj"/>
</geometry>
</collision>
</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="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
<parent link="panda_link4"/>
<child link="panda_link5"/>
<axis xyz="0 0 1"/>
<dynamics damping="10.0"/>
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
</joint>
<link name="panda_link6">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link6.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link6.obj"/>
</geometry>
</collision>
</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="1.57079632679 0 0" xyz="0 0 0"/>
<parent link="panda_link5"/>
<child link="panda_link6"/>
<axis xyz="0 0 1"/>
<dynamics damping="10.0"/>
<limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
<!-- <dynamics damping="10.0"/>
<limit effort="12" lower="-0.0873" upper="3.0" velocity="2.6100"/> -->
</joint>
<link name="panda_link7">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link7.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link7.obj"/>
</geometry>
</collision>
</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="1.57079632679 0 0" xyz="0.088 0 0"/>
<parent link="panda_link6"/>
<child link="panda_link7"/>
<axis xyz="0 0 1"/>
<dynamics damping="10.0"/>
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
</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"/>
<axis xyz="0 0 0"/>
</joint>
Removing this joint seems to help with some stability things
-->
<joint name="panda_hand_joint" type="fixed">
<!--
<parent link="panda_link8"/>
-->
<parent link="panda_link7"/>
<child link="panda_hand"/>
<origin rpy="0 0 -0.785398163397" xyz="0 0 0.107"/>
<!--
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
-->
</joint>
<link name="panda_hand">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/hand.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/hand.obj"/>
</geometry>
</collision>
</link>
<link name="panda_leftfinger">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/finger.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/finger.obj"/>
</geometry>
</collision>
</link>
<link name="panda_rightfinger">
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://franka_description/meshes/visual/finger.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://franka_description/meshes/collision/finger.obj"/>
</geometry>
</collision>
</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"/>
<dynamics damping="10.0"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
</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"/>
<dynamics damping="10.0"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
<mimic joint="panda_finger_joint1"/>
</joint>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/franka_description/robots/franka_panda_gripper.urdf
|
<?xml version="1.0" ?>
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="Vis"><color rgba="0.0 0.0 0.0 0.0"/></material>
<link name="panda_link0">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link0.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link0.obj"/>
</geometry>
</collision>
</link>
<link name="panda_link1">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link1.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link1.obj"/>
</geometry>
</collision>
</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"/>
<dynamics damping="10.0"/>
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
</joint>
<link name="panda_link2">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link2.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link2.obj"/>
</geometry>
</collision>
</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="-1.57079632679 0 0" xyz="0 0 0"/>
<parent link="panda_link1"/>
<child link="panda_link2"/>
<axis xyz="0 0 1"/>
<dynamics damping="10.0"/>
<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
</joint>
<link name="panda_link3">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link3.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link3.obj"/>
</geometry>
</collision>
</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="1.57079632679 0 0" xyz="0 -0.316 0"/>
<parent link="panda_link2"/>
<child link="panda_link3"/>
<axis xyz="0 0 1"/>
<dynamics damping="10.0"/>
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
</joint>
<link name="panda_link4">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link4.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link4.obj"/>
</geometry>
</collision>
</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="1.57079632679 0 0" xyz="0.0825 0 0"/>
<parent link="panda_link3"/>
<child link="panda_link4"/>
<axis xyz="0 0 1"/>
<dynamics damping="10.0"/>
<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
<!-- something is weird with this joint limit config
<dynamics damping="10.0"/>
<limit effort="87" lower="-3.0" upper="0.087" velocity="2.1750"/> -->
</joint>
<link name="panda_link5">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link5.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link5.obj"/>
</geometry>
</collision>
</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="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
<parent link="panda_link4"/>
<child link="panda_link5"/>
<axis xyz="0 0 1"/>
<dynamics damping="10.0"/>
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
</joint>
<link name="panda_link6">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link6.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link6.obj"/>
</geometry>
</collision>
</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="1.57079632679 0 0" xyz="0 0 0"/>
<parent link="panda_link5"/>
<child link="panda_link6"/>
<axis xyz="0 0 1"/>
<dynamics damping="10.0"/>
<limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
<!-- <dynamics damping="10.0"/>
<limit effort="12" lower="-0.0873" upper="3.0" velocity="2.6100"/> -->
</joint>
<link name="panda_link7">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link7.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link7.obj"/>
</geometry>
</collision>
</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="1.57079632679 0 0" xyz="0.088 0 0"/>
<parent link="panda_link6"/>
<child link="panda_link7"/>
<axis xyz="0 0 1"/>
<dynamics damping="10.0"/>
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
</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"/>
<axis xyz="0 0 0"/>
</joint>
Removing this joint seems to help with some stability things
-->
<joint name="panda_hand_joint" type="fixed">
<!--
<parent link="panda_link8"/>
-->
<parent link="panda_link7"/>
<child link="panda_hand"/>
<origin rpy="0 0 -0.785398163397" xyz="0 0 0.107"/>
<!--
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
-->
</joint>
<link name="panda_hand">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/hand.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/hand.obj"/>
</geometry>
</collision>
</link>
<joint name="panda_hand_y_axis_joint" type="fixed">
<parent link="panda_hand"/>
<child link="panda_hand_y_axis"/>
<origin rpy="0 0 0" xyz="0 0.01 0"/>
</joint>
<link name="panda_hand_y_axis">
</link>
<joint name="panda_hand_z_axis_joint" type="fixed">
<parent link="panda_hand"/>
<child link="panda_hand_z_axis"/>
<origin rpy="0 0 0" xyz="0 0 0.01"/>
</joint>
<link name="panda_hand_z_axis">
</link>
<link name="panda_leftfinger">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/finger.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/finger.obj"/>
</geometry>
</collision>
</link>
<link name="panda_rightfinger">
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://franka_description/meshes/visual/finger.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://franka_description/meshes/collision/finger.obj"/>
</geometry>
</collision>
</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"/>
<dynamics damping="10.0"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
</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"/>
<dynamics damping="10.0"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
<mimic joint="panda_finger_joint1"/>
</joint>
<joint name="panda_grip_vis_joint" type="fixed">
<parent link="panda_hand"/>
<child link="panda_grip_site"/>
<origin rpy="0 0 0" xyz="0 0 0.1025"/>
</joint>
<link name="panda_grip_site">
<visual>
<geometry>
<sphere radius="0.005"/>
</geometry>
<material name="Vis"/>
</visual>
</link>
<joint name="panda_leftfinger_tip_joint" type="fixed">
<parent link="panda_leftfinger"/>
<child link="panda_leftfinger_tip"/>
<origin rpy="0 0 0" xyz="0.0 0.0015 0.0441"/>
</joint>
<link name="panda_leftfinger_tip">
<collision>
<geometry>
<box size="0.013 0.004 0.013"/>
</geometry>
</collision>
</link>
<joint name="panda_rightfinger_tip_joint" type="fixed">
<parent link="panda_rightfinger"/>
<child link="panda_rightfinger_tip"/>
<origin rpy="0 0 0" xyz="0.0 -0.0015 0.0441"/>
</joint>
<link name="panda_rightfinger_tip">
<collision>
<geometry>
<box size="0.013 0.004 0.013"/>
</geometry>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/ycb/061_foam_brick/061_foam_brick.urdf
|
<?xml version="1.0"?>
<robot name="foam_brick">
<link name="foam_brick">
<visual>
<origin xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="ycb/061_foam_brick/textured.obj" scale="0.01 0.01 0.01"/>
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.008"/>
<geometry>
<box size="0.049 0.074 0.049"/>
</geometry>
</collision>
<inertial>
<mass value="0.03"/>
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
</inertial>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/ycb/010_potted_meat_can/010_potted_meat_can.urdf
|
<?xml version="1.0"?>
<robot name="potted_meat_can">
<link name="potted_meat_can">
<visual>
<origin xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="ycb/010_potted_meat_can/textured.obj" scale="0.01 0.01 0.01"/>
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="ycb/010_potted_meat_can/collision.obj" scale="0.01 0.01 0.01"/>
</geometry>
</collision>
<inertial>
<!-- Mass value from the *empty* spam can. Full spam can is 368g -->
<mass value="0.026"/>
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
</inertial>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/ycb/011_banana/011_banana.urdf
|
<?xml version="1.0"?>
<robot name="banana">
<link name="banana">
<visual>
<origin xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="ycb/011_banana/textured.obj" scale="0.01 0.01 0.01"/>
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="ycb/011_banana/collision.obj" scale="0.01 0.01 0.01"/>
</geometry>
</collision>
<inertial>
<mass value="0.068"/>
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
</inertial>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/ycb/025_mug/025_mug.urdf
|
<?xml version="1.0"?>
<robot name="mug">
<link name="mug">
<visual>
<origin xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="ycb/025_mug/textured.obj" scale="0.01 0.01 0.01"/>
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="ycb/025_mug/mug_collision.obj" scale="0.01 0.01 0.01"/>
</geometry>
</collision>
<inertial>
<mass value="0.102"/>
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
</inertial>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/objects/arena_round.urdf
|
<?xml version="1.0"?>
<robot name="object">
<link name="object">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<cylinder length="0.6" radius="3.5"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<cylinder length="0.6" radius="3.5"/>
</geometry>
</collision>
<inertial>
<density value="500.0"/>
</inertial>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/objects/cube_multicolor_dextreme.urdf
|
<?xml version="1.0"?>
<robot name="object">
<link name="object">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/dex_cube.obj" scale=".0325 .0325 .0325"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.065 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<density value="400.0"/>
</inertial>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/objects/cube_goal_multicolor.urdf
|
<?xml version="1.0"?>
<robot name="object">
<link name="object">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/cube_multicolor.obj" scale=".05 .05 .05"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
</collision>
<inertial>
<density value="567.0"/>
</inertial>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/objects/cube_multicolor.urdf
|
<?xml version="1.0"?>
<robot name="object">
<link name="object">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/cube_multicolor.obj" scale=".05 .05 .05"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.05 0.05 0.05"/>
</geometry>
</collision>
<inertial>
<density value="567.0"/>
</inertial>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/objects/cube_multicolor_allegro_sdf.urdf
|
<?xml version="1.0"?>
<robot name="object">
<link name="object">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/cube_multicolor.obj" scale=".065 .065 .065"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/cube_multicolor.obj" scale=".065 .065 .065"/>
</geometry>
<sdf resolution="128"/>
</collision>
<inertial>
<density value="400.0"/>
</inertial>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/objects/cube_multicolor_allegro.urdf
|
<?xml version="1.0"?>
<robot name="object">
<link name="object">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/cube_multicolor.obj" scale=".065 .065 .065"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<box size="0.065 0.065 0.065"/>
</geometry>
</collision>
<inertial>
<density value="400.0"/>
</inertial>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/objects/bucket.urdf
|
<?xml version="1.0"?>
<robot name="bucket">
<link name="bucket">
<visual>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/bucket.obj" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/bucket.obj" scale="1 1 1"/>
</geometry>
</collision>
<inertial>
<density value="567.0"/>
</inertial>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/objects/ball.urdf
|
<?xml version="1.0" ?>
<robot name="ball" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="ball">
<inertial>
<mass value=".25"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius=".0375"/>
<!--<mesh filename="meshes/ball.obj"/>-->
</geometry>
<material name="Grey">
<color rgba="0.65 0.65 0.65 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius=".0375"/>
<!--<mesh filename="meshes/ball.obj"/>-->
</geometry>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/anymal_c/urdf/anymal_minimal.urdf
|
<?xml version="1.0" encoding="utf-8"?>
<!-- This file contains the description of the ANYmal robot. -->
<robot name="anymal">
<!-- [kg * m^2] -->
<!-- [m] -->
<!-- measured -->
<!-- Base link -->
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/base.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- <collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.8 0.16 0.1"/>
</geometry>
</collision> -->
<collision>
<origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.75" radius="0.1"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.02174 0.01649 0.0255"/>
<mass value="10.3961"/>
<inertia ixx="0.01883985046" ixy="0.00047876011" ixz="0.0019687174" iyy="0.37477859508" iyz="5.971291e-05" izz="0.37692039276"/>
</inertial>
<!-- Shell self filtering -->
<self_filter>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="1.05 0.5 0.25"/>
</geometry>
</self_filter>
</link>
<!-- [kg * m^2] -->
<!-- Fixed joint base topshell -->
<joint name="base_top_shell" type="fixed">
<parent link="base"/>
<child link="top_shell"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Top shell link -->
<link name="top_shell">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/top_shell.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.00777 -0.00013 0.06523"/>
<mass value="0.602"/>
<inertia ixx="0.00664789486" ixy="1.247923e-05" ixz="0.00053990097" iyy="0.02587392411" iyz="3.7614e-07" izz="0.03152303792"/>
</inertial>
</link>
<!-- [kg * m^2] -->
<!-- Fixed joint base topshell -->
<joint name="base_bottom_shell" type="fixed">
<parent link="base"/>
<child link="bottom_shell"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Bottom shell link -->
<link name="bottom_shell">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/bottom_shell.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.00333 1e-05 -0.07705"/>
<mass value="1.13247"/>
<inertia ixx="0.00927353677" ixy="5.41222e-06" ixz="9.039821e-05" iyy="0.06134388239" iyz="2.3042e-07" izz="0.06853531465"/>
</inertial>
</link>
<!-- [kg * m^2] -->
<!-- Fixed joint base handle -->
<joint name="base_handle" type="fixed">
<parent link="base"/>
<child link="handle"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Handle link -->
<link name="handle">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/handle.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.37801 0.0 0.1372"/>
<mass value="0.30655"/>
<inertia ixx="0.00148775766" ixy="3.55e-09" ixz="5.921332e-05" iyy="0.00067629686" iyz="5.1e-10" izz="0.00113865028"/>
</inertial>
</link>
<!-- [m] -->
<!-- measured -->
<!-- Fixed joint base face -->
<joint name="base_face_front" type="fixed">
<parent link="base"/>
<child link="face_front"/>
<origin rpy="0 0 -0.0" xyz="0.4145 0 0"/>
</joint>
<!-- Shell link -->
<link name="face_front">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/face.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.0309 0.0 0.00013"/>
<mass value="0.07792"/>
<inertia ixx="0.00015384285" ixy="0.0" ixz="-2.5126e-07" iyy="4.672826e-05" iyz="0.0" izz="0.00018905481"/>
</inertial>
</link>
<!-- [kg * m^2] -->
<!-- [m] -->
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="face_front_to_realsense_d435_front_camera" type="fixed">
<parent link="face_front"/>
<child link="realsense_d435_front_camera"/>
<origin rpy="0.0180287275743 0.485250401273 0" xyz="0.04715 0.0 -0.0292"/>
</joint>
<!-- Camera link -->
<link name="realsense_d435_front_camera">
<!-- <visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="../meshes/realsense_d435_3_1_1_mesh.obj" scale="1.0 1.0 1.0"/>
</geometry>
</visual> -->
<inertial>
<origin rpy="0 0 0" xyz="0.01618 3e-05 0.04715"/>
<mass value="0.10006"/>
<inertia ixx="9.072675e-05" ixy="2.73737e-06" ixz="1.969e-08" iyy="1.318628e-05" iyz="9.53e-08" izz="9.0056e-05"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="realsense_d435_front_camera_to_camera_parent" type="fixed">
<parent link="realsense_d435_front_camera"/>
<child link="realsense_d435_front_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="realsense_d435_front_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="realsense_d435_front_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="realsense_d435_front_camera_parent"/>
<child link="realsense_d435_front_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="realsense_d435_front_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="realsense_d435_front_camera_parent_to_color_frame" type="fixed">
<parent link="realsense_d435_front_camera_parent"/>
<child link="realsense_d435_front_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="realsense_d435_front_color_frame"/>
<!-- Camera color optical joint -->
<joint name="realsense_d435_front_color_frame_to_color_optical_frame" type="fixed">
<parent link="realsense_d435_front_color_frame"/>
<child link="realsense_d435_front_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="realsense_d435_front_color_optical_frame"/>
<!-- simulation or bagfile_is_played -->
<!-- simulation -->
<!-- [kg * m^2] -->
<!-- [m] -->
<!-- Camera joint -->
<!-- Is located in the center of the mounting points. -->
<joint name="face_front_to_blackfly_front_camera" type="fixed">
<parent link="face_front"/>
<child link="blackfly_front_camera"/>
<origin rpy="0 0 0" xyz="0.09850 0.0 0.01497"/>
</joint>
<!-- Camera link -->
<link name="blackfly_front_camera">
<!-- <visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="../meshes/blackfly_3_1_1_mesh.obj" scale="1.0 1.0 1.0"/>
</geometry>
</visual> -->
<inertial>
<origin rpy="0 0 0" xyz="-0.02575 5e-05 -0.00603"/>
<mass value="0.1716"/>
<inertia ixx="4.459725e-05" ixy="-1.5215e-07" ixz="7.82278e-06" iyy="6.206251e-05" iyz="1.3234e-07" izz="5.183372e-05"/>
</inertial>
</link>
<!-- Camera parent joint -->
<joint name="blackfly_front_camera_to_camera_parent" type="fixed">
<parent link="blackfly_front_camera"/>
<child link="blackfly_front_camera_parent"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="blackfly_front_camera_parent"/>
<!-- simulation -->
<!-- [m] -->
<!-- measured -->
<!-- Fixed joint base face -->
<joint name="base_face_rear" type="fixed">
<parent link="base"/>
<child link="face_rear"/>
<origin rpy="0 0 3.14159265359" xyz="-0.4145 0 0"/>
</joint>
<!-- Shell link -->
<link name="face_rear">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/face.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.0309 0.0 0.00013"/>
<mass value="0.07792"/>
<inertia ixx="0.00015384285" ixy="0.0" ixz="-2.5126e-07" iyy="4.672826e-05" iyz="0.0" izz="0.00018905481"/>
</inertial>
</link>
<!-- [kg * m^2] -->
<!-- [m] -->
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="face_rear_to_realsense_d435_rear_camera" type="fixed">
<parent link="face_rear"/>
<child link="realsense_d435_rear_camera"/>
<origin rpy="0.0188521739154 0.529785967797 0" xyz="0.04715 0.0 -0.0292"/>
</joint>
<!-- Camera link -->
<link name="realsense_d435_rear_camera">
<!-- <visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="../meshes/realsense_d435_3_1_1_mesh.obj" scale="1.0 1.0 1.0"/>
</geometry>
</visual> -->
<inertial>
<origin rpy="0 0 0" xyz="0.01618 3e-05 0.04715"/>
<mass value="0.10006"/>
<inertia ixx="9.072675e-05" ixy="2.73737e-06" ixz="1.969e-08" iyy="1.318628e-05" iyz="9.53e-08" izz="9.0056e-05"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="realsense_d435_rear_camera_to_camera_parent" type="fixed">
<parent link="realsense_d435_rear_camera"/>
<child link="realsense_d435_rear_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="realsense_d435_rear_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="realsense_d435_rear_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="realsense_d435_rear_camera_parent"/>
<child link="realsense_d435_rear_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="realsense_d435_rear_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="realsense_d435_rear_camera_parent_to_color_frame" type="fixed">
<parent link="realsense_d435_rear_camera_parent"/>
<child link="realsense_d435_rear_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="realsense_d435_rear_color_frame"/>
<!-- Camera color optical joint -->
<joint name="realsense_d435_rear_color_frame_to_color_optical_frame" type="fixed">
<parent link="realsense_d435_rear_color_frame"/>
<child link="realsense_d435_rear_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="realsense_d435_rear_color_optical_frame"/>
<!-- simulation or bagfile_is_played -->
<!-- simulation -->
<!-- [kg * m^2] -->
<!-- [m] -->
<!-- Camera joint -->
<!-- Is located in the center of the mounting points. -->
<joint name="face_rear_to_blackfly_rear_camera" type="fixed">
<parent link="face_rear"/>
<child link="blackfly_rear_camera"/>
<origin rpy="0 0 0" xyz="0.09850 0.0 0.01497"/>
</joint>
<!-- Camera link -->
<link name="blackfly_rear_camera">
<!-- <visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="../meshes/blackfly_3_1_1_mesh.obj" scale="1.0 1.0 1.0"/>
</geometry>
</visual> -->
<inertial>
<origin rpy="0 0 0" xyz="-0.02575 5e-05 -0.00603"/>
<mass value="0.1716"/>
<inertia ixx="4.459725e-05" ixy="-1.5215e-07" ixz="7.82278e-06" iyy="6.206251e-05" iyz="1.3234e-07" izz="5.183372e-05"/>
</inertial>
</link>
<!-- Camera parent joint -->
<joint name="blackfly_rear_camera_to_camera_parent" type="fixed">
<parent link="blackfly_rear_camera"/>
<child link="blackfly_rear_camera_parent"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="blackfly_rear_camera_parent"/>
<!-- simulation -->
<!-- [kg * m^2] -->
<!-- Fixed joint base battery -->
<joint name="base_battery" type="fixed">
<parent link="base"/>
<child link="battery"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Shell link -->
<link name="battery">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/battery.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.00067 -0.00023 -0.03362"/>
<mass value="5.53425"/>
<inertia ixx="0.00749474794" ixy="0.00016686282" ixz="7.82763e-05" iyy="0.0722338913" iyz="1.42902e-06" izz="0.07482717535"/>
</inertial>
</link>
<!-- Fixed joint to add docking socket -->
<joint name="base_to_docking_socket" type="fixed">
<parent link="base"/>
<child link="docking_socket"/>
<origin rpy="0 0 0" xyz="0.343 0.0 -0.08"/>
</joint>
<!-- Docking socket link -->
<link name="docking_socket"/>
<!-- [] -->
<link name="imu_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.005"/>
<geometry>
<box size="0.024 0.024 0.01"/>
</geometry>
<material name="orange"/>
</visual>
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="5.63333333333e-07" ixy="0.0" ixz="0.0" iyy="9.6e-07" iyz="0.0" izz="5.63333333333e-07"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base"/>
<child link="imu_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.2488 0.00835 0.04628"/>
</joint>
<!-- [kg * m^2] -->
<!-- [m] -->
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="base_to_realsense_d435_left_camera" type="fixed">
<parent link="base"/>
<child link="realsense_d435_left_camera"/>
<origin rpy="-0.0152290274679 0.510627488597 1.57079632679" xyz="0.0 0.07646 0.02905"/>
</joint>
<!-- Camera link -->
<link name="realsense_d435_left_camera">
<!-- <visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="../meshes/realsense_d435_3_1_1_mesh.obj" scale="1.0 1.0 1.0"/>
</geometry>
</visual> -->
<inertial>
<origin rpy="0 0 0" xyz="0.01618 3e-05 0.04715"/>
<mass value="0.10006"/>
<inertia ixx="9.072675e-05" ixy="2.73737e-06" ixz="1.969e-08" iyy="1.318628e-05" iyz="9.53e-08" izz="9.0056e-05"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="realsense_d435_left_camera_to_camera_parent" type="fixed">
<parent link="realsense_d435_left_camera"/>
<child link="realsense_d435_left_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="realsense_d435_left_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="realsense_d435_left_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="realsense_d435_left_camera_parent"/>
<child link="realsense_d435_left_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="realsense_d435_left_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="realsense_d435_left_camera_parent_to_color_frame" type="fixed">
<parent link="realsense_d435_left_camera_parent"/>
<child link="realsense_d435_left_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="realsense_d435_left_color_frame"/>
<!-- Camera color optical joint -->
<joint name="realsense_d435_left_color_frame_to_color_optical_frame" type="fixed">
<parent link="realsense_d435_left_color_frame"/>
<child link="realsense_d435_left_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="realsense_d435_left_color_optical_frame"/>
<!-- simulation or bagfile_is_played -->
<!-- simulation -->
<!-- [kg * m^2] -->
<!-- [m] -->
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="base_to_realsense_d435_right_camera" type="fixed">
<parent link="base"/>
<child link="realsense_d435_right_camera"/>
<origin rpy="0.0323779520196 0.531011188932 -1.57079632679" xyz="0.0 -0.07646 0.02905"/>
</joint>
<!-- Camera link -->
<link name="realsense_d435_right_camera">
<!-- <visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="../meshes/realsense_d435_3_1_1_mesh.obj" scale="1.0 1.0 1.0"/>
</geometry>
</visual> -->
<inertial>
<origin rpy="0 0 0" xyz="0.01618 3e-05 0.04715"/>
<mass value="0.10006"/>
<inertia ixx="9.072675e-05" ixy="2.73737e-06" ixz="1.969e-08" iyy="1.318628e-05" iyz="9.53e-08" izz="9.0056e-05"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="realsense_d435_right_camera_to_camera_parent" type="fixed">
<parent link="realsense_d435_right_camera"/>
<child link="realsense_d435_right_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="realsense_d435_right_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="realsense_d435_right_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="realsense_d435_right_camera_parent"/>
<child link="realsense_d435_right_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="realsense_d435_right_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="realsense_d435_right_camera_parent_to_color_frame" type="fixed">
<parent link="realsense_d435_right_camera_parent"/>
<child link="realsense_d435_right_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="realsense_d435_right_color_frame"/>
<!-- Camera color optical joint -->
<joint name="realsense_d435_right_color_frame_to_color_optical_frame" type="fixed">
<parent link="realsense_d435_right_color_frame"/>
<child link="realsense_d435_right_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="realsense_d435_right_color_optical_frame"/>
<!-- simulation or bagfile_is_played -->
<!-- simulation -->
<!-- [kg * m^2] -->
<!-- [m] -->
<!-- parent to cage joint, located between mounting plate on trunk and the cage -->
<joint name="base_to_velodyne_cage" type="fixed">
<parent link="base"/>
<child link="velodyne_cage"/>
<origin rpy="0 0 0" xyz="-0.364 0.0 0.0735"/>
</joint>
<!-- Velodyne cage link -->
<link name="velodyne_cage">
<!-- <visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="../meshes/cage_3_1_1_mesh.obj" scale="1.0 1.0 1.0"/>
</geometry>
</visual> -->
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.00835 0.00422 0.09164"/>
<mass value="0.59537"/>
<inertia ixx="0.00355433776" ixy="-0.00017311043" ixz="0.00034272548" iyy="0.00300234186" iyz="0.00017427295" izz="0.00174109156"/>
</inertial>
</link>
<!-- [kg * m^2] -->
<!-- parent to sensor joint -->
<joint name="velodyne_cage_to_velodyne" type="fixed">
<parent link="velodyne_cage"/>
<child link="velodyne"/>
<origin rpy="0.0 0.0 -1.57079632679" xyz="0.0 0.0 0.0687"/>
</joint>
<!-- Velodyne sensor link -->
<link name="velodyne">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0 8e-05 -0.0025"/>
<mass value="0.59"/>
<inertia ixx="0.00063992282" ixy="1.1e-10" ixz="5.061e-08" iyy="0.00063682474" iyz="1.38867e-06" izz="0.00075943194"/>
</inertial>
<visual>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/lidar.dae"/>
</geometry>
</visual>
</link>
<!-- simulation -->
<!-- [rad] -->
<!-- joint base HAA -->
<joint name="base_LF_HAA" type="fixed">
<parent link="base"/>
<child link="LF_HAA"/>
<origin rpy="2.61799387799 0 0.0" xyz="0.2999 0.104 0.0"/>
</joint>
<!-- [m] -->
<!-- [A] -->
<!-- Drive link -->
<link name="LF_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.06639 7e-05 0.00046"/>
<mass value="1.89871"/>
<inertia ixx="0.00201800646" ixy="6.22418e-06" ixz="1.03846e-06" iyy="0.00354961412" iyz="1.0569e-07" izz="0.00353706896"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LF_HAA" type="revolute">
<parent link="LF_HAA"/>
<child link="LF_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" velocity="20." />
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LF_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- [kg * m^2] -->
<!-- joint HAA hip -->
<joint name="LF_HIP_LF_hip_fixed" type="fixed">
<parent link="LF_HIP"/>
<child link="LF_hip_fixed"/>
<origin rpy="-2.61799387799 0 0.0" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="LF_hip_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.04524 -0.0009 -0.00442"/>
<mass value="0.61232"/>
<inertia ixx="0.00120630718" ixy="5.33521e-06" ixz="1.483089e-05" iyy="0.00378577813" iyz="1.483089e-05" izz="0.00370047477"/>
</inertial>
</link>
<!-- [rad] -->
<!-- joint hip HFE -->
<joint name="LF_hip_fixed_LF_HFE" type="fixed">
<parent link="LF_hip_fixed"/>
<child link="LF_HFE"/>
<origin rpy="0 0 1.57079632679" xyz="0.0599 0.08381 0.0"/>
</joint>
<!-- [m] -->
<!-- [A] -->
<!-- Drive link -->
<link name="LF_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.06639 7e-05 0.00046"/>
<mass value="1.89871"/>
<inertia ixx="0.00201800646" ixy="6.22418e-06" ixz="1.03846e-06" iyy="0.00354961412" iyz="1.0569e-07" izz="0.00353706896"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LF_HFE" type="revolute">
<parent link="LF_HFE"/>
<child link="LF_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" velocity="20." />
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LF_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- [m] -->
<!-- measured -->
<!-- joint HFE thigh -->
<joint name="LF_THIGH_LF_thigh_fixed" type="fixed">
<parent link="LF_THIGH"/>
<child link="LF_thigh_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="LF_thigh_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.00935 0.00194 -0.1424"/>
<mass value="1.37356"/>
<inertia ixx="0.02568264237" ixy="0.00110418011" ixz="0.00183898863" iyy="0.02513273119" iyz="0.00217895477" izz="0.0049947572"/>
</inertial>
</link>
<!-- [rad] -->
<!-- joint thigh KFE -->
<joint name="LF_thigh_fixed_LF_KFE" type="fixed">
<parent link="LF_thigh_fixed"/>
<child link="LF_KFE"/>
<origin rpy="0 0 1.57079632679" xyz="0.0 0.1003 -0.285"/>
</joint>
<!-- [m] -->
<!-- [A] -->
<!-- Drive link -->
<link name="LF_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.05 0 0"/>
<geometry>
<cylinder length="0.12" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.06639 7e-05 0.00046"/>
<mass value="1.89871"/>
<inertia ixx="0.00201800646" ixy="6.22418e-06" ixz="1.03846e-06" iyy="0.00354961412" iyz="1.0569e-07" izz="0.00353706896"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LF_KFE" type="revolute">
<parent link="LF_KFE"/>
<child link="LF_SHANK"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" velocity="20." />
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LF_SHANK">
<!-- Adapter collision -->
<!-- <collision>
<origin rpy="0 0 0" xyz="0.01 -0.1 -0.2"/>
<geometry>
<cylinder length="0.2" radius="0.0175"/>
</geometry>
</collision> -->
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- [m] -->
<!-- measured -->
<!-- joint KFE shank -->
<joint name="LF_shank_LF_shank_fixed" type="fixed">
<parent link="LF_SHANK"/>
<child link="LF_shank_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Shank link -->
<link name="LF_shank_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/shank_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.03463 0.00688 0.00098"/>
<mass value="0.33742"/>
<inertia ixx="0.00032748005" ixy="2.142561e-05" ixz="1.33942e-05" iyy="0.00110974122" iyz="7.601e-08" izz="0.00089388521"/>
</inertial>
</link>
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
<!-- joint shank foot -->
<joint name="LF_shank_fixed_LF_FOOT" type="fixed">
<parent link="LF_shank_fixed"/>
<child link="LF_FOOT"/>
<origin rpy="0 0 0" xyz="0.08795 0.01305 -0.33797"/>
</joint>
<!-- Foot link -->
<link name="LF_FOOT">
<visual>
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/foot.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Foot collision -->
<collision>
<origin xyz="0 0 0.0225"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00948 -0.00948 0.1468"/>
<mass value="0.21663"/>
<inertia ixx="0.00317174097" ixy="2.63048e-06" ixz="6.815581e-05" iyy="0.00317174092" iyz="6.815583e-05" izz="8.319196e-05"/>
</inertial>
</link>
<!-- [rad] -->
<!-- joint base HAA -->
<joint name="base_RF_HAA" type="fixed">
<parent link="base"/>
<child link="RF_HAA"/>
<origin rpy="-2.61799387799 0 0.0" xyz="0.2999 -0.104 0.0"/>
</joint>
<!-- [m] -->
<!-- [A] -->
<!-- Drive link -->
<link name="RF_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.06639 7e-05 0.00046"/>
<mass value="1.89871"/>
<inertia ixx="0.00201800646" ixy="6.22418e-06" ixz="1.03846e-06" iyy="0.00354961412" iyz="1.0569e-07" izz="0.00353706896"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RF_HAA" type="revolute">
<parent link="RF_HAA"/>
<child link="RF_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" velocity="20." />
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RF_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- [kg * m^2] -->
<!-- joint HAA hip -->
<joint name="RF_HIP_RF_hip_fixed" type="fixed">
<parent link="RF_HIP"/>
<child link="RF_hip_fixed"/>
<origin rpy="2.61799387799 0 0.0" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="RF_hip_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip_r.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.04524 0.0009 -0.00442"/>
<mass value="0.61232"/>
<inertia ixx="0.00120630718" ixy="-5.33521e-06" ixz="1.483089e-05" iyy="0.00378577813" iyz="-1.483089e-05" izz="0.00370047477"/>
</inertial>
</link>
<!-- [rad] -->
<!-- joint hip HFE -->
<joint name="RF_hip_fixed_RF_HFE" type="fixed">
<parent link="RF_hip_fixed"/>
<child link="RF_HFE"/>
<origin rpy="0 0 -1.57079632679" xyz="0.0599 -0.08381 0.0"/>
</joint>
<!-- [m] -->
<!-- [A] -->
<!-- Drive link -->
<link name="RF_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.06639 7e-05 0.00046"/>
<mass value="1.89871"/>
<inertia ixx="0.00201800646" ixy="6.22418e-06" ixz="1.03846e-06" iyy="0.00354961412" iyz="1.0569e-07" izz="0.00353706896"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RF_HFE" type="revolute">
<parent link="RF_HFE"/>
<child link="RF_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" velocity="20." />
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RF_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- [m] -->
<!-- measured -->
<!-- joint HFE thigh -->
<joint name="RF_THIGH_RF_thigh_fixed" type="fixed">
<parent link="RF_THIGH"/>
<child link="RF_thigh_fixed"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="RF_thigh_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.00935 -0.00194 -0.1424"/>
<mass value="1.37356"/>
<inertia ixx="0.02568264237" ixy="-0.00110418011" ixz="0.00183898863" iyy="0.02513273119" iyz="-0.00217895477" izz="0.0049947572"/>
</inertial>
</link>
<!-- [rad] -->
<!-- joint thigh KFE -->
<joint name="RF_thigh_fixed_RF_KFE" type="fixed">
<parent link="RF_thigh_fixed"/>
<child link="RF_KFE"/>
<origin rpy="0 0 -1.57079632679" xyz="0.0 -0.1003 -0.285"/>
</joint>
<!-- [m] -->
<!-- [A] -->
<!-- Drive link -->
<link name="RF_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.05 0 0"/>
<geometry>
<cylinder length="0.12" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.06639 7e-05 0.00046"/>
<mass value="1.89871"/>
<inertia ixx="0.00201800646" ixy="6.22418e-06" ixz="1.03846e-06" iyy="0.00354961412" iyz="1.0569e-07" izz="0.00353706896"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RF_KFE" type="revolute">
<parent link="RF_KFE"/>
<child link="RF_SHANK"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" velocity="20." />
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RF_SHANK">
<!-- Adapter collision -->
<!-- <collision>
<origin rpy="0 0 0" xyz="0.01 0.1 -0.2"/>
<geometry>
<cylinder length="0.2" radius="0.0175"/>
</geometry>
</collision> -->
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- [m] -->
<!-- measured -->
<!-- joint KFE shank -->
<joint name="RF_shank_RF_shank_fixed" type="fixed">
<parent link="RF_SHANK"/>
<child link="RF_shank_fixed"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Shank link -->
<link name="RF_shank_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/shank_r.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.03463 -0.00688 0.00098"/>
<mass value="0.33742"/>
<inertia ixx="0.00032748005" ixy="-2.142561e-05" ixz="1.33942e-05" iyy="0.00110974122" iyz="-7.601e-08" izz="0.00089388521"/>
</inertial>
</link>
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
<!-- joint shank foot -->
<joint name="RF_shank_fixed_RF_FOOT" type="fixed">
<parent link="RF_shank_fixed"/>
<child link="RF_FOOT"/>
<origin rpy="0 0 0" xyz="0.08795 -0.01305 -0.33797"/>
</joint>
<!-- Foot link -->
<link name="RF_FOOT">
<visual>
<origin rpy="0 0 0.785398163397" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/foot.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Foot collision -->
<collision>
<origin xyz="0 -0.0 0.0225"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00948 0.00948 0.1468"/>
<mass value="0.21663"/>
<inertia ixx="0.00317174097" ixy="-2.63048e-06" ixz="6.815581e-05" iyy="0.00317174092" iyz="-6.815583e-05" izz="8.319196e-05"/>
</inertial>
</link>
<!-- [rad] -->
<!-- joint base HAA -->
<joint name="base_LH_HAA" type="fixed">
<parent link="base"/>
<child link="LH_HAA"/>
<origin rpy="-2.61799387799 0 -3.14159265359" xyz="-0.2999 0.104 0.0"/>
</joint>
<!-- [m] -->
<!-- [A] -->
<!-- Drive link -->
<link name="LH_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.06639 7e-05 0.00046"/>
<mass value="1.89871"/>
<inertia ixx="0.00201800646" ixy="6.22418e-06" ixz="1.03846e-06" iyy="0.00354961412" iyz="1.0569e-07" izz="0.00353706896"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LH_HAA" type="revolute">
<parent link="LH_HAA"/>
<child link="LH_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" velocity="20." />
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LH_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- [kg * m^2] -->
<!-- joint HAA hip -->
<joint name="LH_HIP_LH_hip_fixed" type="fixed">
<parent link="LH_HIP"/>
<child link="LH_hip_fixed"/>
<origin rpy="-2.61799387799 0 -3.14159265359" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="LH_hip_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.04524 -0.0009 -0.00442"/>
<mass value="0.61232"/>
<inertia ixx="0.00120630718" ixy="-5.33521e-06" ixz="-1.483089e-05" iyy="0.00378577813" iyz="1.483089e-05" izz="0.00370047477"/>
</inertial>
</link>
<!-- [rad] -->
<!-- joint hip HFE -->
<joint name="LH_hip_fixed_LH_HFE" type="fixed">
<parent link="LH_hip_fixed"/>
<child link="LH_HFE"/>
<origin rpy="0 0 1.57079632679" xyz="-0.0599 0.08381 0.0"/>
</joint>
<!-- [m] -->
<!-- [A] -->
<!-- Drive link -->
<link name="LH_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.06639 7e-05 0.00046"/>
<mass value="1.89871"/>
<inertia ixx="0.00201800646" ixy="6.22418e-06" ixz="1.03846e-06" iyy="0.00354961412" iyz="1.0569e-07" izz="0.00353706896"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LH_HFE" type="revolute">
<parent link="LH_HFE"/>
<child link="LH_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" velocity="20." />
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LH_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- [m] -->
<!-- measured -->
<!-- joint HFE thigh -->
<joint name="LH_THIGH_LH_thigh_fixed" type="fixed">
<parent link="LH_THIGH"/>
<child link="LH_thigh_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="LH_thigh_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.00935 0.00194 -0.1424"/>
<mass value="1.37356"/>
<inertia ixx="0.02568264237" ixy="-0.00110418011" ixz="-0.00183898863" iyy="0.02513273119" iyz="0.00217895477" izz="0.0049947572"/>
</inertial>
</link>
<!-- [rad] -->
<!-- joint thigh KFE -->
<joint name="LH_thigh_fixed_LH_KFE" type="fixed">
<parent link="LH_thigh_fixed"/>
<child link="LH_KFE"/>
<origin rpy="0 0 1.57079632679" xyz="-0.0 0.1003 -0.285"/>
</joint>
<!-- [m] -->
<!-- [A] -->
<!-- Drive link -->
<link name="LH_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.05 0 0"/>
<geometry>
<cylinder length="0.12" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.06639 7e-05 0.00046"/>
<mass value="1.89871"/>
<inertia ixx="0.00201800646" ixy="6.22418e-06" ixz="1.03846e-06" iyy="0.00354961412" iyz="1.0569e-07" izz="0.00353706896"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LH_KFE" type="revolute">
<parent link="LH_KFE"/>
<child link="LH_SHANK"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" velocity="20." />
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LH_SHANK">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
<!-- Adapter collision -->
<!-- <collision>
<origin rpy="0 0 0" xyz="0.01 0.1 -0.2"/>
<geometry>
<cylinder length="0.2" radius="0.0175"/>
</geometry>
</collision> -->
</link>
<!-- [m] -->
<!-- measured -->
<!-- joint KFE shank -->
<joint name="LH_shank_LH_shank_fixed" type="fixed">
<parent link="LH_SHANK"/>
<child link="LH_shank_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Shank link -->
<link name="LH_shank_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/shank_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.03463 0.00688 0.00098"/>
<mass value="0.33742"/>
<inertia ixx="0.00032748005" ixy="-2.142561e-05" ixz="-1.33942e-05" iyy="0.00110974122" iyz="7.601e-08" izz="0.00089388521"/>
</inertial>
</link>
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
<!-- joint shank foot -->
<joint name="LH_shank_fixed_LH_FOOT" type="fixed">
<parent link="LH_shank_fixed"/>
<child link="LH_FOOT"/>
<origin rpy="0 0 0" xyz="-0.08795 0.01305 -0.33797"/>
</joint>
<!-- Foot link -->
<link name="LH_FOOT">
<visual>
<origin rpy="0 0 -2.35619449019" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/foot.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Foot collision -->
<collision>
<origin xyz="0 -0.0 0.0225"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00948 -0.00948 0.1468"/>
<mass value="0.21663"/>
<inertia ixx="0.00317174097" ixy="-2.63048e-06" ixz="-6.815581e-05" iyy="0.00317174092" iyz="6.815583e-05" izz="8.319196e-05"/>
</inertial>
</link>
<!-- [rad] -->
<!-- joint base HAA -->
<joint name="base_RH_HAA" type="fixed">
<parent link="base"/>
<child link="RH_HAA"/>
<origin rpy="2.61799387799 0 -3.14159265359" xyz="-0.2999 -0.104 0.0"/>
</joint>
<!-- [m] -->
<!-- [A] -->
<!-- Drive link -->
<link name="RH_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.06639 7e-05 0.00046"/>
<mass value="1.89871"/>
<inertia ixx="0.00201800646" ixy="6.22418e-06" ixz="1.03846e-06" iyy="0.00354961412" iyz="1.0569e-07" izz="0.00353706896"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RH_HAA" type="revolute">
<parent link="RH_HAA"/>
<child link="RH_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" velocity="20." />
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RH_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- [kg * m^2] -->
<!-- joint HAA hip -->
<joint name="RH_HIP_RH_hip_fixed" type="fixed">
<parent link="RH_HIP"/>
<child link="RH_hip_fixed"/>
<origin rpy="2.61799387799 0 -3.14159265359" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="RH_hip_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip_r.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.04524 0.0009 -0.00442"/>
<mass value="0.61232"/>
<inertia ixx="0.00120630718" ixy="5.33521e-06" ixz="-1.483089e-05" iyy="0.00378577813" iyz="-1.483089e-05" izz="0.00370047477"/>
</inertial>
</link>
<!-- [rad] -->
<!-- joint hip HFE -->
<joint name="RH_hip_fixed_RH_HFE" type="fixed">
<parent link="RH_hip_fixed"/>
<child link="RH_HFE"/>
<origin rpy="0 0 -1.57079632679" xyz="-0.0599 -0.08381 0.0"/>
</joint>
<!-- [m] -->
<!-- [A] -->
<!-- Drive link -->
<link name="RH_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.06639 7e-05 0.00046"/>
<mass value="1.89871"/>
<inertia ixx="0.00201800646" ixy="6.22418e-06" ixz="1.03846e-06" iyy="0.00354961412" iyz="1.0569e-07" izz="0.00353706896"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RH_HFE" type="revolute">
<parent link="RH_HFE"/>
<child link="RH_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" velocity="20." />
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RH_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- [m] -->
<!-- measured -->
<!-- joint HFE thigh -->
<joint name="RH_THIGH_RH_thigh_fixed" type="fixed">
<parent link="RH_THIGH"/>
<child link="RH_thigh_fixed"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="RH_thigh_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.00935 -0.00194 -0.1424"/>
<mass value="1.37356"/>
<inertia ixx="0.02568264237" ixy="0.00110418011" ixz="-0.00183898863" iyy="0.02513273119" iyz="-0.00217895477" izz="0.0049947572"/>
</inertial>
</link>
<!-- [rad] -->
<!-- joint thigh KFE -->
<joint name="RH_thigh_fixed_RH_KFE" type="fixed">
<parent link="RH_thigh_fixed"/>
<child link="RH_KFE"/>
<origin rpy="0 0 -1.57079632679" xyz="-0.0 -0.1003 -0.285"/>
</joint>
<!-- [m] -->
<!-- [A] -->
<!-- Drive link -->
<link name="RH_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.05 0 0"/>
<geometry>
<cylinder length="0.12" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.06639 7e-05 0.00046"/>
<mass value="1.89871"/>
<inertia ixx="0.00201800646" ixy="6.22418e-06" ixz="1.03846e-06" iyy="0.00354961412" iyz="1.0569e-07" izz="0.00353706896"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RH_KFE" type="revolute">
<parent link="RH_KFE"/>
<child link="RH_SHANK"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<!-- <limit command_effort="80.0" current="32.0" effort="80.0" gear_velocity="7.5" lower="-9.42477796077" upper="9.42477796077" velocity="7.5"/> -->
<limit effort="80.0" velocity="20." />
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RH_SHANK">
<!-- Adapter collision -->
<!-- <collision>
<origin rpy="0 0 0" xyz="0.01 -0.1 -0.2"/>
<geometry>
<cylinder length="0.2" radius="0.0175"/>
</geometry>
</collision> -->
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- [m] -->
<!-- measured -->
<!-- joint KFE shank -->
<joint name="RH_shank_RH_shank_fixed" type="fixed">
<parent link="RH_SHANK"/>
<child link="RH_shank_fixed"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Shank link -->
<link name="RH_shank_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/shank_r.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.03463 -0.00688 0.00098"/>
<mass value="0.33742"/>
<inertia ixx="0.00032748005" ixy="2.142561e-05" ixz="-1.33942e-05" iyy="0.00110974122" iyz="-7.601e-08" izz="0.00089388521"/>
</inertial>
</link>
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
<!-- joint shank foot -->
<joint name="RH_shank_fixed_RH_FOOT" type="fixed">
<parent link="RH_shank_fixed"/>
<child link="RH_FOOT"/>
<origin rpy="0 0 0" xyz="-0.08795 -0.01305 -0.33797"/>
</joint>
<!-- Foot link -->
<link name="RH_FOOT">
<visual>
<origin rpy="0 0 -3.92699081699" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/foot.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Foot collision -->
<collision>
<origin xyz="0 -0.0 0.0225"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00948 0.00948 0.1468"/>
<mass value="0.21663"/>
<inertia ixx="0.00317174097" ixy="2.63048e-06" ixz="-6.815581e-05" iyy="0.00317174092" iyz="-6.815583e-05" izz="8.319196e-05"/>
</inertial>
</link>
<!-- [kg * m^2] -->
<!-- Fixed joint base hatch -->
<joint name="base_hatch" type="fixed">
<parent link="base"/>
<child link="hatch"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Hatch link -->
<link name="hatch">
<visual>
<origin rpy="0 0 0" xyz="0.116 0 0.073"/>
<geometry>
<mesh filename="../meshes/hatch.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.116 0.0 0.0758"/>
<mass value="0.142"/>
<inertia ixx="0.001" ixy="0.001" ixz="0.001" iyy="0.001" iyz="0.001" izz="0.001"/>
</inertial>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/anymal_c/urdf/anymal.urdf
|
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- Copyright 2020 ANYbotics, https://www.anybotics.com -->
<!-- =================================================================================== -->
<!-- This file contains the description of the ANYmal C robot. -->
<robot name="anymal">
<!-- Base link -->
<link name="base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/base.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.58 0.14 0.18"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.2175 0.07 0"/>
<geometry>
<cylinder length="0.145" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.2175 0.07 0"/>
<geometry>
<cylinder length="0.145" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.2175 -0.07 0"/>
<geometry>
<cylinder length="0.145" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.2175 -0.07 0"/>
<geometry>
<cylinder length="0.145" radius="0.09"/>
</geometry>
</collision>
<!-- Shell self filtering -->
<self_filter>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="1.05 0.5 0.5"/>
</geometry>
</self_filter>
</link>
<!-- Fixed joint to add dummy inertia link -->
<joint name="base_to_base_inertia" type="fixed">
<parent link="base"/>
<child link="base_inertia"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Dummy inertia link, because KDL cannot have inertia on the base link -->
<link name="base_inertia">
<inertial>
<origin rpy="0 0 0" xyz="-0.018 -0.002 0.024"/>
<mass value="6.222"/>
<inertia ixx="0.017938806" ixy="0.00387963" ixz="0.001500772" iyy="0.370887745" iyz="6.8963e-05" izz="0.372497653"/>
</inertial>
</link>
<!-- Fixed joint base topshell -->
<joint name="base_top_shell" type="fixed">
<parent link="base"/>
<child link="top_shell"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Top shell link -->
<link name="top_shell">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/top_shell.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.00777 -0.00013 0.06523"/>
<mass value="0.534"/>
<inertia ixx="0.00664789486" ixy="1.247923e-05" ixz="0.00053990097" iyy="0.02587392411" iyz="3.7614e-07" izz="0.03152303792"/>
</inertial>
</link>
<!-- Fixed joint base topshell -->
<joint name="base_bottom_shell" type="fixed">
<parent link="base"/>
<child link="bottom_shell"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Bottom shell link -->
<link name="bottom_shell">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/bottom_shell.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.00333 1e-05 -0.07705"/>
<mass value="1.15"/>
<inertia ixx="0.00927353677" ixy="5.41222e-06" ixz="9.039821e-05" iyy="0.06134388239" iyz="2.3042e-07" izz="0.06853531465"/>
</inertial>
</link>
<!-- Fixed joint base remote -->
<joint name="base_remote" type="fixed">
<parent link="base"/>
<child link="remote"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Remote link -->
<link name="remote">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/remote.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.171 0.002 0.096"/>
<mass value="0.3262"/>
<inertia ixx="0.000528486" ixy="4.547e-05" ixz="1.10327e-05" iyy="0.001165035" iyz="7.4e-07" izz="0.00124026"/>
</inertial>
</link>
<!-- Fixed joint base handle -->
<joint name="base_handle" type="fixed">
<parent link="base"/>
<child link="handle"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Handle link -->
<link name="handle">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/handle.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.37801 0.0 0.1372"/>
<mass value="0.314"/>
<inertia ixx="0.001525739" ixy="0.0" ixz="6.272e-05" iyy="0.00071584" iyz="1e-09" izz="0.001164779"/>
</inertial>
</link>
<!-- Fixed joint base face -->
<joint name="base_face_front" type="fixed">
<parent link="base"/>
<child link="face_front"/>
<origin rpy="0 0 -0.0" xyz="0.4145 0 0"/>
</joint>
<!-- Shell link -->
<link name="face_front">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/face.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.055 0 0"/>
<geometry>
<box size="0.11 0.14 0.18"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.055 0.07 0"/>
<geometry>
<cylinder length="0.11" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.055 -0.07 0"/>
<geometry>
<cylinder length="0.11" radius="0.09"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.042 -0.001 0.004"/>
<mass value="0.73"/>
<inertia ixx="0.005238611" ixy="1.7609e-05" ixz="7.2167e-05" iyy="0.002643098" iyz="1.9548e-05" izz="0.004325938"/>
</inertial>
</link>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="face_front_to_depth_camera_front_camera" type="fixed">
<parent link="face_front"/>
<child link="depth_camera_front_camera"/>
<origin rpy="0.0 0.523598775598 0" xyz="0.04715 0.0 -0.0292"/>
</joint>
<!-- Camera link -->
<link name="depth_camera_front_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="../meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
<mass value="0.16043"/>
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="depth_camera_front_camera_to_camera_parent" type="fixed">
<parent link="depth_camera_front_camera"/>
<child link="depth_camera_front_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="depth_camera_front_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="depth_camera_front_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_front_camera_parent"/>
<child link="depth_camera_front_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="depth_camera_front_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="depth_camera_front_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_front_camera_parent"/>
<child link="depth_camera_front_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="depth_camera_front_color_frame"/>
<!-- Camera color optical joint -->
<joint name="depth_camera_front_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_front_color_frame"/>
<child link="depth_camera_front_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="depth_camera_front_color_optical_frame"/>
<!-- Camera joint -->
<!-- Is located in the center of the mounting points. -->
<joint name="face_front_to_wide_angle_camera_front_camera" type="fixed">
<parent link="face_front"/>
<child link="wide_angle_camera_front_camera"/>
<origin rpy="0 0 0" xyz="0.09850 0.0 0.01497"/>
</joint>
<!-- Camera link -->
<link name="wide_angle_camera_front_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="../meshes/wide_angle_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.053 -0.001 0.025"/>
<mass value="0.287"/>
<inertia ixx="0.000559232" ixy="1.6875e-05" ixz="0.000423761" iyy="0.000946504" iyz="1.3234e-07" izz="0.000493052"/>
</inertial>
</link>
<!-- Camera parent joint -->
<joint name="wide_angle_camera_front_camera_to_camera_parent" type="fixed">
<parent link="wide_angle_camera_front_camera"/>
<child link="wide_angle_camera_front_camera_parent"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="wide_angle_camera_front_camera_parent"/>
<!-- Fixed joint base face -->
<joint name="base_face_rear" type="fixed">
<parent link="base"/>
<child link="face_rear"/>
<origin rpy="0 0 3.14159265359" xyz="-0.4145 0 0"/>
</joint>
<!-- Shell link -->
<link name="face_rear">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/face.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.055 0 0"/>
<geometry>
<box size="0.11 0.14 0.18"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.055 0.07 0"/>
<geometry>
<cylinder length="0.11" radius="0.09"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079632679 0" xyz="0.055 -0.07 0"/>
<geometry>
<cylinder length="0.11" radius="0.09"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.042 -0.001 0.004"/>
<mass value="0.73"/>
<inertia ixx="0.005238611" ixy="1.7609e-05" ixz="7.2167e-05" iyy="0.002643098" iyz="1.9548e-05" izz="0.004325938"/>
</inertial>
</link>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="face_rear_to_depth_camera_rear_camera" type="fixed">
<parent link="face_rear"/>
<child link="depth_camera_rear_camera"/>
<origin rpy="0.0 0.523598775598 0" xyz="0.04715 0.0 -0.0292"/>
</joint>
<!-- Camera link -->
<link name="depth_camera_rear_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="../meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
<mass value="0.16043"/>
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="depth_camera_rear_camera_to_camera_parent" type="fixed">
<parent link="depth_camera_rear_camera"/>
<child link="depth_camera_rear_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="depth_camera_rear_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="depth_camera_rear_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_rear_camera_parent"/>
<child link="depth_camera_rear_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="depth_camera_rear_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="depth_camera_rear_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_rear_camera_parent"/>
<child link="depth_camera_rear_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="depth_camera_rear_color_frame"/>
<!-- Camera color optical joint -->
<joint name="depth_camera_rear_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_rear_color_frame"/>
<child link="depth_camera_rear_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="depth_camera_rear_color_optical_frame"/>
<!-- Camera joint -->
<!-- Is located in the center of the mounting points. -->
<joint name="face_rear_to_wide_angle_camera_rear_camera" type="fixed">
<parent link="face_rear"/>
<child link="wide_angle_camera_rear_camera"/>
<origin rpy="0 0 0" xyz="0.09850 0.0 0.01497"/>
</joint>
<!-- Camera link -->
<link name="wide_angle_camera_rear_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="../meshes/wide_angle_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.053 -0.001 0.025"/>
<mass value="0.287"/>
<inertia ixx="0.000559232" ixy="1.6875e-05" ixz="0.000423761" iyy="0.000946504" iyz="1.3234e-07" izz="0.000493052"/>
</inertial>
</link>
<!-- Camera parent joint -->
<joint name="wide_angle_camera_rear_camera_to_camera_parent" type="fixed">
<parent link="wide_angle_camera_rear_camera"/>
<child link="wide_angle_camera_rear_camera_parent"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="wide_angle_camera_rear_camera_parent"/>
<!-- Fixed joint base battery -->
<joint name="base_battery" type="fixed">
<parent link="base"/>
<child link="battery"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Shell link -->
<link name="battery">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/battery.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.00067 -0.00023 -0.03362"/>
<mass value="5.53425"/>
<inertia ixx="0.00749474794" ixy="0.00016686282" ixz="7.82763e-05" iyy="0.0722338913" iyz="1.42902e-06" izz="0.07482717535"/>
</inertial>
</link>
<!-- Fixed joint to add docking -->
<joint name="base_to_docking_hatch_cover" type="fixed">
<parent link="base"/>
<child link="docking_hatch_cover"/>
<origin rpy="0 0 0" xyz="0.343 0.0 -0.07"/>
</joint>
<!-- Hatch cover link -->
<link name="docking_hatch_cover">
<!-- TODO(fgiraldez): add visual -->
<inertial>
<origin rpy="0 0 0" xyz="-0.003 0.0 0.005"/>
<mass value="0.065"/>
<inertia ixx="0.00063283" ixy="0.0" ixz="3.45e-07" iyy="0.00110971" iyz="0.0" izz="0.00171883"/>
</inertial>
</link>
<link name="imu_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.005"/>
<geometry>
<box size="0.024 0.024 0.01"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.005"/>
<geometry>
<box size="0.024 0.024 0.01"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<origin xyz="0 0 0"/>
<inertia ixx="5.63333333333e-07" ixy="0.0" ixz="0.0" iyy="9.6e-07" iyz="0.0" izz="5.63333333333e-07"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base"/>
<child link="imu_link"/>
<origin rpy="0.0 0.0 1.57079632679" xyz="0.2488 0.00835 0.04628"/>
</joint>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="base_to_depth_camera_left_camera" type="fixed">
<parent link="base"/>
<child link="depth_camera_left_camera"/>
<origin rpy="0.0 0.523598775598 1.57079632679" xyz="0.0 0.07646 0.02905"/>
</joint>
<!-- Camera link -->
<link name="depth_camera_left_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="../meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
<mass value="0.16043"/>
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="depth_camera_left_camera_to_camera_parent" type="fixed">
<parent link="depth_camera_left_camera"/>
<child link="depth_camera_left_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="depth_camera_left_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="depth_camera_left_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_left_camera_parent"/>
<child link="depth_camera_left_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="depth_camera_left_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="depth_camera_left_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_left_camera_parent"/>
<child link="depth_camera_left_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="depth_camera_left_color_frame"/>
<!-- Camera color optical joint -->
<joint name="depth_camera_left_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_left_color_frame"/>
<child link="depth_camera_left_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="depth_camera_left_color_optical_frame"/>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="base_to_depth_camera_right_camera" type="fixed">
<parent link="base"/>
<child link="depth_camera_right_camera"/>
<origin rpy="0.0 0.523598775598 -1.57079632679" xyz="0.0 -0.07646 0.02905"/>
</joint>
<!-- Camera link -->
<link name="depth_camera_right_camera">
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="../meshes/depth_camera.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.021 -0.002 0.025"/>
<mass value="0.16043"/>
<inertia ixx="0.000637051" ixy="0.000484569" ixz="0.000424211" iyy="0.000929402" iyz="5.138e-06" izz="0.000484569"/>
</inertial>
</link>
<!-- Camera parent joint -->
<!-- Frame lies on the left ir camera according to any_realsense2_camera urdf. -->
<joint name="depth_camera_right_camera_to_camera_parent" type="fixed">
<parent link="depth_camera_right_camera"/>
<child link="depth_camera_right_camera_parent"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
<link name="depth_camera_right_camera_parent"/>
<!-- Depth optical frame joint -->
<joint name="depth_camera_right_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_right_camera_parent"/>
<child link="depth_camera_right_depth_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
<link name="depth_camera_right_depth_optical_frame"/>
<!-- Camera color frame joint -->
<joint name="depth_camera_right_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_right_camera_parent"/>
<child link="depth_camera_right_color_frame"/>
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
<link name="depth_camera_right_color_frame"/>
<!-- Camera color optical joint -->
<joint name="depth_camera_right_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_right_color_frame"/>
<child link="depth_camera_right_color_optical_frame"/>
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
<link name="depth_camera_right_color_optical_frame"/>
<!-- parent to cage joint, located between mounting plate on trunk and the cage -->
<joint name="base_to_lidar_cage" type="fixed">
<parent link="base"/>
<child link="lidar_cage"/>
<origin rpy="0 0 0" xyz="-0.364 0.0 0.0735"/>
</joint>
<!-- Velodyne cage link -->
<link name="lidar_cage">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="../meshes/lidar_cage.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.06"/>
<geometry>
<cylinder length="0.12" radius="0.07"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.002 0.0 0.099"/>
<mass value="0.545"/>
<inertia ixx="0.003156254" ixy="0.0" ixz="1.0992e-05" iyy="0.002357216" iyz="0.0" izz="0.001326455"/>
</inertial>
</link>
<!-- parent to sensor joint -->
<joint name="lidar_cage_to_lidar" type="fixed">
<parent link="lidar_cage"/>
<child link="lidar"/>
<origin rpy="0.0 0.0 -1.57079632679" xyz="0.0 0.0 0.0687"/>
</joint>
<!-- Velodyne sensor link -->
<link name="lidar">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="-0.012 0.001 -0.008"/>
<mass value="0.695"/>
<inertia ixx="0.000846765" ixy="6.9565e-05" ixz="0.00027111" iyy="0.001367583" iyz="5.8984e-05" izz="0.001363673"/>
</inertial>
<visual>
<origin xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/lidar.dae"/>
</geometry>
</visual>
</link>
<!-- joint base HAA -->
<joint name="base_LF_HAA" type="fixed">
<parent link="base"/>
<child link="LF_HAA"/>
<origin rpy="2.61799387799 0 0.0" xyz="0.2999 0.104 0.0"/>
</joint>
<!-- Drive link -->
<link name="LF_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LF_HAA" type="revolute">
<parent link="LF_HAA"/>
<child link="LF_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-0.72" upper="0.49" velocity="20"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LF_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HAA hip -->
<joint name="LF_HIP_LF_hip_fixed" type="fixed">
<parent link="LF_HIP"/>
<child link="LF_hip_fixed"/>
<origin rpy="-2.61799387799 0 0.0" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="LF_hip_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.048 0.008 -0.003"/>
<mass value="0.74"/>
<inertia ixx="0.001393106" ixy="8.4012e-05" ixz="2.3378e-05" iyy="0.003798579" iyz="7.1319e-05" izz="0.003897509"/>
</inertial>
</link>
<!-- joint hip HFE -->
<joint name="LF_hip_fixed_LF_HFE" type="fixed">
<parent link="LF_hip_fixed"/>
<child link="LF_HFE"/>
<origin rpy="0 0 1.57079632679" xyz="0.0599 0.08381 0.0"/>
</joint>
<!-- Drive link -->
<link name="LF_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LF_HFE" type="revolute">
<parent link="LF_HFE"/>
<child link="LF_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="20"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LF_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HFE thigh -->
<joint name="LF_THIGH_LF_thigh_fixed" type="fixed">
<parent link="LF_THIGH"/>
<child link="LF_thigh_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="LF_thigh_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Thigh collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.04 0"/>
<geometry>
<cylinder length="0.08" radius="0.065"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.03 -0.1413135"/>
<geometry>
<box size="0.075 0.06 0.282627"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.018 -0.169"/>
<mass value="1.03"/>
<inertia ixx="0.018644469" ixy="5.2e-08" ixz="1.0157e-05" iyy="0.019312599" iyz="0.002520077" izz="0.002838361"/>
</inertial>
</link>
<!-- joint thigh KFE -->
<joint name="LF_thigh_fixed_LF_KFE" type="fixed">
<parent link="LF_thigh_fixed"/>
<child link="LF_KFE"/>
<origin rpy="0 0 1.57079632679" xyz="0.0 0.1003 -0.285"/>
</joint>
<!-- Drive link -->
<link name="LF_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LF_KFE" type="revolute">
<parent link="LF_KFE"/>
<child link="LF_SHANK"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="20"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LF_SHANK">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint KFE shank -->
<joint name="LF_shank_LF_shank_fixed" type="fixed">
<parent link="LF_SHANK"/>
<child link="LF_shank_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Shank link -->
<link name="LF_shank_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/shank_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Shank collision -->
<!-- <collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.02 0"/>
<geometry>
<cylinder length="0.04" radius="0.06"/>
</geometry>
</collision>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0.057499 0.02 0"/>
<geometry>
<box size="0.114998 0.0675 0.04"/>
</geometry>
</collision> -->
<inertial>
<origin rpy="0 0 0" xyz="0.03463 0.00688 0.00098"/>
<mass value="0.33742"/>
<inertia ixx="0.00032748005" ixy="2.142561e-05" ixz="1.33942e-05" iyy="0.00110974122" iyz="7.601e-08" izz="0.00089388521"/>
</inertial>
</link>
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
<!-- joint shank foot -->
<joint name="LF_shank_fixed_LF_FOOT" type="fixed">
<parent link="LF_shank_fixed"/>
<child link="LF_FOOT"/>
<origin rpy="0 0 0" xyz="0.08795 0.01305 -0.33797"/>
</joint>
<!-- Foot link -->
<link name="LF_FOOT">
<visual>
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/foot.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Adapter collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0.168985"/>
<geometry>
<cylinder length="0.282504" radius="0.0175"/>
</geometry>
</collision>
<!-- Foot collision -->
<collision>
<origin xyz="0 0 0.0225"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00948 -0.00948 0.1468"/>
<mass value="0.25"/>
<inertia ixx="0.00317174097" ixy="2.63048e-06" ixz="6.815581e-05" iyy="0.00317174092" iyz="6.815583e-05" izz="8.319196e-05"/>
</inertial>
</link>
<!-- joint base HAA -->
<joint name="base_RF_HAA" type="fixed">
<parent link="base"/>
<child link="RF_HAA"/>
<origin rpy="-2.61799387799 0 0.0" xyz="0.2999 -0.104 0.0"/>
</joint>
<!-- Drive link -->
<link name="RF_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RF_HAA" type="revolute">
<parent link="RF_HAA"/>
<child link="RF_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-0.49" upper="0.72" velocity="20"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RF_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HAA hip -->
<joint name="RF_HIP_RF_hip_fixed" type="fixed">
<parent link="RF_HIP"/>
<child link="RF_hip_fixed"/>
<origin rpy="2.61799387799 0 0.0" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="RF_hip_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip_r.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.048 -0.008 -0.003"/>
<mass value="0.74"/>
<inertia ixx="0.001393106" ixy="-8.4012e-05" ixz="2.3378e-05" iyy="0.003798579" iyz="-7.1319e-05" izz="0.003897509"/>
</inertial>
</link>
<!-- joint hip HFE -->
<joint name="RF_hip_fixed_RF_HFE" type="fixed">
<parent link="RF_hip_fixed"/>
<child link="RF_HFE"/>
<origin rpy="0 0 -1.57079632679" xyz="0.0599 -0.08381 0.0"/>
</joint>
<!-- Drive link -->
<link name="RF_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RF_HFE" type="revolute">
<parent link="RF_HFE"/>
<child link="RF_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="20"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RF_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HFE thigh -->
<joint name="RF_THIGH_RF_thigh_fixed" type="fixed">
<parent link="RF_THIGH"/>
<child link="RF_thigh_fixed"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="RF_thigh_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Thigh collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.04 0"/>
<geometry>
<cylinder length="0.08" radius="0.065"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.03 -0.1413135"/>
<geometry>
<box size="0.075 0.06 0.282627"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 -0.018 -0.169"/>
<mass value="1.03"/>
<inertia ixx="0.018644469" ixy="-5.2e-08" ixz="1.0157e-05" iyy="0.019312599" iyz="-0.002520077" izz="0.002838361"/>
</inertial>
</link>
<!-- joint thigh KFE -->
<joint name="RF_thigh_fixed_RF_KFE" type="fixed">
<parent link="RF_thigh_fixed"/>
<child link="RF_KFE"/>
<origin rpy="0 0 -1.57079632679" xyz="0.0 -0.1003 -0.285"/>
</joint>
<!-- Drive link -->
<link name="RF_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RF_KFE" type="revolute">
<parent link="RF_KFE"/>
<child link="RF_SHANK"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="20"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RF_SHANK">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint KFE shank -->
<joint name="RF_shank_RF_shank_fixed" type="fixed">
<parent link="RF_SHANK"/>
<child link="RF_shank_fixed"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Shank link -->
<link name="RF_shank_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/shank_r.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Shank collision -->
<!-- <collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.02 0"/>
<geometry>
<cylinder length="0.04" radius="0.06"/>
</geometry>
</collision>
<collision>
<origin rpy="1.57079632679 0 0" xyz="0.057499 -0.02 0"/>
<geometry>
<box size="0.114998 0.0675 0.04"/>
</geometry>
</collision> -->
<inertial>
<origin rpy="0 0 0" xyz="0.03463 -0.00688 0.00098"/>
<mass value="0.33742"/>
<inertia ixx="0.00032748005" ixy="-2.142561e-05" ixz="1.33942e-05" iyy="0.00110974122" iyz="-7.601e-08" izz="0.00089388521"/>
</inertial>
</link>
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
<!-- joint shank foot -->
<joint name="RF_shank_fixed_RF_FOOT" type="fixed">
<parent link="RF_shank_fixed"/>
<child link="RF_FOOT"/>
<origin rpy="0 0 0" xyz="0.08795 -0.01305 -0.33797"/>
</joint>
<!-- Foot link -->
<link name="RF_FOOT">
<visual>
<origin rpy="0 0 0.785398163397" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/foot.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Adapter collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0.168985"/>
<geometry>
<cylinder length="0.282504" radius="0.0175"/>
</geometry>
</collision>
<!-- Foot collision -->
<collision>
<origin xyz="0 0 0.0225"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00948 0.00948 0.1468"/>
<mass value="0.25"/>
<inertia ixx="0.00317174097" ixy="-2.63048e-06" ixz="6.815581e-05" iyy="0.00317174092" iyz="-6.815583e-05" izz="8.319196e-05"/>
</inertial>
</link>
<!-- joint base HAA -->
<joint name="base_LH_HAA" type="fixed">
<parent link="base"/>
<child link="LH_HAA"/>
<origin rpy="-2.61799387799 0 -3.14159265359" xyz="-0.2999 0.104 0.0"/>
</joint>
<!-- Drive link -->
<link name="LH_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LH_HAA" type="revolute">
<parent link="LH_HAA"/>
<child link="LH_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-0.72" upper="0.49" velocity="20"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LH_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HAA hip -->
<joint name="LH_HIP_LH_hip_fixed" type="fixed">
<parent link="LH_HIP"/>
<child link="LH_hip_fixed"/>
<origin rpy="-2.61799387799 0 -3.14159265359" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="LH_hip_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip_r.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.048 0.008 -0.003"/>
<mass value="0.74"/>
<inertia ixx="0.001393106" ixy="-8.4012e-05" ixz="-2.3378e-05" iyy="0.003798579" iyz="7.1319e-05" izz="0.003897509"/>
</inertial>
</link>
<!-- joint hip HFE -->
<joint name="LH_hip_fixed_LH_HFE" type="fixed">
<parent link="LH_hip_fixed"/>
<child link="LH_HFE"/>
<origin rpy="0 0 1.57079632679" xyz="-0.0599 0.08381 0.0"/>
</joint>
<!-- Drive link -->
<link name="LH_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LH_HFE" type="revolute">
<parent link="LH_HFE"/>
<child link="LH_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="20"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LH_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HFE thigh -->
<joint name="LH_THIGH_LH_thigh_fixed" type="fixed">
<parent link="LH_THIGH"/>
<child link="LH_thigh_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="LH_thigh_fixed">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Thigh collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.04 0"/>
<geometry>
<cylinder length="0.08" radius="0.065"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.03 -0.1413135"/>
<geometry>
<box size="0.075 0.06 0.282627"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0 0.018 -0.169"/>
<mass value="1.03"/>
<inertia ixx="0.018644469" ixy="-5.2e-08" ixz="-1.0157e-05" iyy="0.019312599" iyz="0.002520077" izz="0.002838361"/>
</inertial>
</link>
<!-- joint thigh KFE -->
<joint name="LH_thigh_fixed_LH_KFE" type="fixed">
<parent link="LH_thigh_fixed"/>
<child link="LH_KFE"/>
<origin rpy="0 0 1.57079632679" xyz="-0.0 0.1003 -0.285"/>
</joint>
<!-- Drive link -->
<link name="LH_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="LH_KFE" type="revolute">
<parent link="LH_KFE"/>
<child link="LH_SHANK"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="20"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="LH_SHANK">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint KFE shank -->
<joint name="LH_shank_LH_shank_fixed" type="fixed">
<parent link="LH_SHANK"/>
<child link="LH_shank_fixed"/>
<origin rpy="0 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Shank link -->
<link name="LH_shank_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/shank_r.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Shank collision -->
<!-- <collision>
<origin rpy="1.57079632679 0 0" xyz="0 0.02 0"/>
<geometry>
<cylinder length="0.04" radius="0.06"/>
</geometry>
</collision>
<collision>
<origin rpy="1.57079632679 0 0" xyz="-0.057499 0.02 0"/>
<geometry>
<box size="0.114998 0.0675 0.04"/>
</geometry>
</collision> -->
<inertial>
<origin rpy="0 0 0" xyz="-0.03463 0.00688 0.00098"/>
<mass value="0.33742"/>
<inertia ixx="0.00032748005" ixy="-2.142561e-05" ixz="-1.33942e-05" iyy="0.00110974122" iyz="7.601e-08" izz="0.00089388521"/>
</inertial>
</link>
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
<!-- joint shank foot -->
<joint name="LH_shank_fixed_LH_FOOT" type="fixed">
<parent link="LH_shank_fixed"/>
<child link="LH_FOOT"/>
<origin rpy="0 0 0" xyz="-0.08795 0.01305 -0.33797"/>
</joint>
<!-- Foot link -->
<link name="LH_FOOT">
<visual>
<origin rpy="0 0 -2.35619449019" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/foot.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Adapter collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0.168985"/>
<geometry>
<cylinder length="0.282504" radius="0.0175"/>
</geometry>
</collision>
<!-- Foot collision -->
<collision>
<origin xyz="0 0 0.0225"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00948 -0.00948 0.1468"/>
<mass value="0.25"/>
<inertia ixx="0.00317174097" ixy="-2.63048e-06" ixz="-6.815581e-05" iyy="0.00317174092" iyz="6.815583e-05" izz="8.319196e-05"/>
</inertial>
</link>
<!-- joint base HAA -->
<joint name="base_RH_HAA" type="fixed">
<parent link="base"/>
<child link="RH_HAA"/>
<origin rpy="2.61799387799 0 -3.14159265359" xyz="-0.2999 -0.104 0.0"/>
</joint>
<!-- Drive link -->
<link name="RH_HAA">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RH_HAA" type="revolute">
<parent link="RH_HAA"/>
<child link="RH_HIP"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-0.49" upper="0.72" velocity="20"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RH_HIP">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HAA hip -->
<joint name="RH_HIP_RH_hip_fixed" type="fixed">
<parent link="RH_HIP"/>
<child link="RH_hip_fixed"/>
<origin rpy="2.61799387799 0 -3.14159265359" xyz="0 0 0"/>
</joint>
<!-- Hip link -->
<link name="RH_hip_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/hip_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="-0.048 -0.008 -0.003"/>
<mass value="0.74"/>
<inertia ixx="0.001393106" ixy="8.4012e-05" ixz="-2.3378e-05" iyy="0.003798579" iyz="-7.1319e-05" izz="0.003897509"/>
</inertial>
</link>
<!-- joint hip HFE -->
<joint name="RH_hip_fixed_RH_HFE" type="fixed">
<parent link="RH_hip_fixed"/>
<child link="RH_HFE"/>
<origin rpy="0 0 -1.57079632679" xyz="-0.0599 -0.08381 0.0"/>
</joint>
<!-- Drive link -->
<link name="RH_HFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RH_HFE" type="revolute">
<parent link="RH_HFE"/>
<child link="RH_THIGH"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="20"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RH_THIGH">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint HFE thigh -->
<joint name="RH_THIGH_RH_thigh_fixed" type="fixed">
<parent link="RH_THIGH"/>
<child link="RH_thigh_fixed"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Thigh link -->
<link name="RH_thigh_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/thigh.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Thigh collision -->
<collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.04 0"/>
<geometry>
<cylinder length="0.08" radius="0.065"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.03 -0.1413135"/>
<geometry>
<box size="0.075 0.06 0.282627"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0 -0.018 -0.169"/>
<mass value="1.03"/>
<inertia ixx="0.018644469" ixy="5.2e-08" ixz="-1.0157e-05" iyy="0.019312599" iyz="-0.002520077" izz="0.002838361"/>
</inertial>
</link>
<!-- joint thigh KFE -->
<joint name="RH_thigh_fixed_RH_KFE" type="fixed">
<parent link="RH_thigh_fixed"/>
<child link="RH_KFE"/>
<origin rpy="0 0 -1.57079632679" xyz="-0.0 -0.1003 -0.285"/>
</joint>
<!-- Drive link -->
<link name="RH_KFE">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/drive.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<collision>
<origin rpy="0 1.57079632679 0" xyz="-0.07 0 0"/>
<geometry>
<cylinder length="0.14" radius="0.05"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.063 7e-05 0.00046"/>
<mass value="2.04"/>
<inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
</inertial>
</link>
<!-- joint Drive output -->
<joint name="RH_KFE" type="revolute">
<parent link="RH_KFE"/>
<child link="RH_SHANK"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="-1 0 0"/>
<limit effort="80.0" lower="-9.42477796077" upper="9.42477796077" velocity="20"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Drive output link -->
<link name="RH_SHANK">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
</inertial>
</link>
<!-- joint KFE shank -->
<joint name="RH_shank_RH_shank_fixed" type="fixed">
<parent link="RH_SHANK"/>
<child link="RH_shank_fixed"/>
<origin rpy="0 0 1.57079632679" xyz="0 0 0"/>
</joint>
<!-- Shank link -->
<link name="RH_shank_fixed">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/shank_l.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Shank collision -->
<!-- <collision>
<origin rpy="1.57079632679 0 0" xyz="0 -0.02 0"/>
<geometry>
<cylinder length="0.04" radius="0.06"/>
</geometry>
</collision>
<collision>
<origin rpy="1.57079632679 0 0" xyz="-0.057499 -0.02 0"/>
<geometry>
<box size="0.114998 0.0675 0.04"/>
</geometry>
</collision> -->
<inertial>
<origin rpy="0 0 0" xyz="-0.03463 -0.00688 0.00098"/>
<mass value="0.33742"/>
<inertia ixx="0.00032748005" ixy="2.142561e-05" ixz="-1.33942e-05" iyy="0.00110974122" iyz="-7.601e-08" izz="0.00089388521"/>
</inertial>
</link>
<!-- Leg configurations: xx (knees bent inwards), xo (knees bent backwards) -->
<!-- joint shank foot -->
<joint name="RH_shank_fixed_RH_FOOT" type="fixed">
<parent link="RH_shank_fixed"/>
<child link="RH_FOOT"/>
<origin rpy="0 0 0" xyz="-0.08795 -0.01305 -0.33797"/>
</joint>
<!-- Foot link -->
<link name="RH_FOOT">
<visual>
<origin rpy="0 0 -3.92699081699" xyz="0 0 0"/>
<geometry>
<mesh filename="../meshes/foot.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<!-- Adapter collision -->
<collision>
<origin rpy="0 0 0" xyz="0 0 0.168985"/>
<geometry>
<cylinder length="0.282504" radius="0.0175"/>
</geometry>
</collision>
<!-- Foot collision -->
<collision>
<origin xyz="0 0 0.0225"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00948 0.00948 0.1468"/>
<mass value="0.25"/>
<inertia ixx="0.00317174097" ixy="2.63048e-06" ixz="-6.815581e-05" iyy="0.00317174092" iyz="-6.815583e-05" izz="8.319196e-05"/>
</inertial>
</link>
<!-- Fixed joint base hatch -->
<joint name="base_hatch" type="fixed">
<parent link="base"/>
<child link="hatch"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Hatch link -->
<link name="hatch">
<visual>
<origin rpy="0 0 0" xyz="0.116 0 0.073"/>
<geometry>
<mesh filename="../meshes/hatch.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.116 0.0 0.0758"/>
<mass value="0.142"/>
<inertia ixx="0.001" ixy="0.001" ixz="0.001" iyy="0.001" iyz="0.001" izz="0.001"/>
</inertial>
</link>
</robot>
|
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