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Backfill missing files batch 6

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ROBOTS/mobile_aloha_sim-2.0.0/aloha_new_description/meshes/piper_slave_meshes/link8.dae ADDED
The diff for this file is too large to render. See raw diff
 
ROBOTS/mobile_aloha_sim-2.0.0/aloha_new_description/meshes/tracer_wheel.dae ADDED
The diff for this file is too large to render. See raw diff
 
ROBOTS/mobile_aloha_sim-2.0.0/aloha_new_description/package.xml ADDED
@@ -0,0 +1,21 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ <package format="2">
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+ <name>aloha_new_description</name>
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+ <version>1.0.0</version>
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+ <description>
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+ <p>URDF Description package for aloha_new_description</p>
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+ <p>This package contains configuration data, 3D models and launch files
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+ for aloha_new_description robot</p>
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+ </description>
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+ <author>TODO</author>
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+ <maintainer email="TODO@email.com" />
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+ <license>BSD</license>
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+ <buildtool_depend>catkin</buildtool_depend>
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+ <depend>roslaunch</depend>
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+ <depend>robot_state_publisher</depend>
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+ <depend>rviz</depend>
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+ <depend>joint_state_publisher_gui</depend>
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+ <depend>gazebo</depend>
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+ <export>
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+ <architecture_independent />
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+ </export>
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+ </package>
ROBOTS/mobile_aloha_sim-2.0.0/aloha_new_description/rviz/aloha.rviz ADDED
@@ -0,0 +1,377 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ Panels:
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+ - Class: rviz/Displays
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+ Help Height: 78
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+ Name: Displays
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+ Property Tree Widget:
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+ Expanded:
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+ - /Global Options1
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+ - /Status1
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+ - /RobotModel1
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+ - /RobotModel1/Status1
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+ Splitter Ratio: 0.5
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+ Tree Height: 549
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+ - Class: rviz/Selection
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+ Name: Selection
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+ - Class: rviz/Tool Properties
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+ Expanded:
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+ - /2D Pose Estimate1
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+ - /2D Nav Goal1
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+ - /Publish Point1
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+ Name: Tool Properties
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+ Splitter Ratio: 0.5886790156364441
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+ - Class: rviz/Views
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+ Expanded:
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+ - /Current View1
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+ Name: Views
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+ Splitter Ratio: 0.5
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+ - Class: rviz/Time
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+ Name: Time
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+ SyncMode: 0
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+ SyncSource: ""
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+ Preferences:
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+ PromptSaveOnExit: true
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+ Toolbars:
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+ toolButtonStyle: 2
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+ Visualization Manager:
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+ Class: ""
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+ Displays:
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+ - Alpha: 0.5
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+ Class: rviz/Grid
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+ Enabled: true
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+ Value: Lines
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+ Name: Grid
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+ Normal Cell Count: 0
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+ Offset:
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+ X: 0
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+ Z: 0
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+ Plane: XY
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+ Plane Cell Count: 10
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+ Reference Frame: <Fixed Frame>
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+ Value: true
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+ - Alpha: 1
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+ Class: rviz/RobotModel
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+ Collision Enabled: false
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+ Enabled: true
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+ Links:
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+ All Links Enabled: true
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+ Expand Joint Details: false
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+ Expand Link Details: false
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+ Expand Tree: false
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+ Link Tree Style: Links in Alphabetic Order
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+ base_link:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ Value: true
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ bl_link3:
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+ Alpha: 1
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+ Show Axes: false
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+ Value: true
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+ bl_link4:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ bl_link5:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ bl_link6:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ bl_link7:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ bl_link8:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ body_Link:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ Alpha: 1
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+ Show Trail: false
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+ Value: true
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+ br_link1:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ br_link2:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ br_link3:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ br_link4:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ br_link5:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ br_link6:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ br_link7:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ br_link8:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ fl_base_link:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ fl_castor_link:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ fl_link1:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ fl_link2:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ fl_link3:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ fl_link4:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ fl_link5:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ fl_link6:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ fl_link7:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ fl_link8:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ fl_wheel_link:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ footprint:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ fr_base_link:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ fr_castor_link:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ fr_link1:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ fr_link2:
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+ Alpha: 1
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+ Value: true
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+ fr_link3:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ fr_link4:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ fr_link5:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ fr_link6:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ fr_link7:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ fr_link8:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ fr_wheel_link:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ inertial_link:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ left_wheel_link:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ right_wheel_link:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Value: true
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+ rl_castor_link:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ rl_wheel_link:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ rr_castor_link:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ rr_wheel_link:
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+ Alpha: 1
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+ Show Axes: false
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+ Show Trail: false
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+ Name: RobotModel
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+ Robot Description: robot_description
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+ TF Prefix: ""
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+ Update Interval: 0
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+ Value: true
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+ Visual Enabled: true
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+ Enabled: true
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+ Global Options:
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+ Background Color: 48; 48; 48
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+ Default Light: true
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+ Fixed Frame: footprint
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+ Frame Rate: 30
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+ Name: root
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+ Tools:
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+ - Class: rviz/Interact
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+ Hide Inactive Objects: true
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+ - Class: rviz/MoveCamera
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+ - Class: rviz/Select
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+ - Class: rviz/FocusCamera
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+ - Class: rviz/Measure
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+ - Class: rviz/SetInitialPose
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+ Theta std deviation: 0.2617993950843811
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+ Topic: /initialpose
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+ X std deviation: 0.5
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+ Y std deviation: 0.5
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+ - Class: rviz/SetGoal
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+ Topic: /move_base_simple/goal
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+ - Class: rviz/PublishPoint
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+ Single click: true
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+ Topic: /clicked_point
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+ Value: true
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+ Views:
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+ Distance: 2.7332229614257812
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+ Stereo Focal Distance: 1
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+ Field of View: 0.7853981852531433
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+ Focal Shape Fixed Size: true
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+ Focal Shape Size: 0.05000000074505806
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+ Invert Z Axis: false
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+ Name: Current View
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+ Near Clip Distance: 0.009999999776482582
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+ Pitch: 0.4703979790210724
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+ Target Frame: <Fixed Frame>
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+ Yaw: 0.7253977656364441
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+ Saved: ~
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+ Window Geometry:
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+ Displays:
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+ collapsed: false
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+ Height: 846
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+ Hide Left Dock: false
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+ Hide Right Dock: false
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+ Selection:
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+ collapsed: false
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+ Time:
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+ collapsed: false
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+ Tool Properties:
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+ collapsed: false
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+ Views:
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+ collapsed: false
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+ Width: 1601
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+ X: 60
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+ Y: 27
ROBOTS/mobile_aloha_sim-2.0.0/aloha_new_description/urdf/aloha_new.urdf ADDED
@@ -0,0 +1,1719 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ <?xml version="1.0" encoding="utf-8" ?>
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+ <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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+ Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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+ For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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+ <robot name="arx5_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
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+ <!-- <link name="footprint"/> -->
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+
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+ <!-- <xacro:include filename="$(find tracer_description)/urdf/tracer_v1.xacro"/> -->
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+
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+ <link name="footprint">
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+ </link>
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+
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+ <!-- tracer base -->
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+ <link name="base_link">
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+ <visual>
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+ <!--<origin xyz="0 0 0" rpy="0 0 0"/>-->
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+ <geometry>
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+ <mesh filename="package://aloha_new_description/meshes/tracer_base_link_no_wheel.dae" />
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+ <!--<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>-->
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <!--origin
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+ rpy="0 0 0" /-->
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+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
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+ <geometry>
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+ <mesh
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+ filename="package://aloha_new_description/meshes/tracer_base_link_no_wheel.dae" />
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+ <!--<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>-->
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+ </geometry>
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+ </collision>
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+ </link>
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+ <link name="inertial_link">
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+ <inertial>
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+ <!--mass value="44.3898489950015" /-->
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+ <mass value="132.3898489950015" />
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+ <!-- <mass value="50" /> -->
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+ <inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
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+ <!--<origin
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+ ixy="4.30144213829512E-08"
48
+ ixz="5.81037523686401E-08"
49
+ iyy="0.364893736238929"
50
+ iyz="-0.000386720198091934"
51
+ izz="0.223868521722778" />
52
+ <!--<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />-->
53
+ </inertial>
54
+ </link>
55
+
56
+ <joint name="inertial_joint" type="fixed">
57
+ <origin xyz="0 0 0" rpy="0 0 0" />
58
+ <parent link="base_link" />
59
+ <child link="inertial_link" />
60
+ </joint>
61
+
62
+ <link name="right_wheel_link">
63
+ <inertial>
64
+ <mass value="6" />
65
+ <origin xyz="0 0 0" />
66
+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
67
+ </inertial>
68
+ <visual>
69
+ <origin xyz="0 0 0" rpy="0 0 0" />
70
+ <geometry>
71
+ <mesh filename="package://aloha_new_description/meshes/tracer_wheel.dae" />
72
+ </geometry>
73
+ </visual>
74
+ <collision>
75
+ <origin
76
+ xyz="0 0 0"
77
+ rpy="0 0 0" />
78
+ <geometry>
79
+ <mesh filename="package://aloha_new_description/meshes/tracer_wheel.dae" />
80
+ </geometry>
81
+ </collision>
82
+ </link>
83
+
84
+ <joint name="right_wheel" type="continuous">
85
+ <parent link="base_link"/>
86
+ <child link="right_wheel_link"/>
87
+ <origin xyz="0 -0.17 -0.082" rpy="0 0 0" />
88
+ <axis xyz="0 1 0" rpy="0 0 0" />
89
+ </joint>
90
+
91
+ <link name="left_wheel_link">
92
+ <inertial>
93
+ <mass value="6" />
94
+ <origin xyz="0 0 0" />
95
+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
96
+ </inertial>
97
+ <visual>
98
+ <origin xyz="0 0 0" rpy="0 0 0" />
99
+ <geometry>
100
+ <mesh filename="package://aloha_new_description/meshes/tracer_wheel.dae" />
101
+ </geometry>
102
+ </visual>
103
+ <collision>
104
+ <origin
105
+ xyz="0 0 0"
106
+ rpy="0 0 0" />
107
+ <geometry>
108
+ <mesh filename="package://aloha_new_description/meshes/tracer_wheel.dae" />
109
+ </geometry>
110
+ </collision>
111
+ </link>
112
+
113
+ <joint name="left_wheel" type="continuous">
114
+ <parent link="base_link"/>
115
+ <child link="left_wheel_link"/>
116
+ <origin xyz="0 0.17 -0.082" rpy="0 0 0" />
117
+ <axis xyz="0 1 0" rpy="0 0 0" />
118
+ </joint>
119
+
120
+ <link name="fl_castor_link">
121
+ <inertial>
122
+ <mass value="1" />
123
+ <origin xyz="0 0 0" />
124
+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
125
+ </inertial>
126
+ <visual>
127
+ <geometry>
128
+ <mesh filename="package://aloha_new_description/meshes/castor_joint.dae" />
129
+ </geometry>
130
+ </visual>
131
+ </link>
132
+
133
+ <joint name="fl_castor_wheel" type="continuous">
134
+ <parent link="base_link" />
135
+ <child link="fl_castor_link" />
136
+ <origin xyz="0.19 0.17 -0.038" rpy="-1.57 0 0" />
137
+ <axis xyz="0 1 0" rpy="0 0 0" />
138
+ </joint>
139
+
140
+ <link name="fr_castor_link">
141
+ <inertial>
142
+ <mass value="1" />
143
+ <origin xyz="0 0 0" />
144
+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
145
+ </inertial>
146
+ <visual>
147
+ <geometry>
148
+ <mesh filename="package://aloha_new_description/meshes/castor_joint.dae" />
149
+ </geometry>
150
+ </visual>
151
+ </link>
152
+
153
+ <joint name="fr_castor_wheel" type="continuous">
154
+ <origin xyz="0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
155
+ <parent link="base_link" />
156
+ <child link="fr_castor_link" />
157
+ <axis xyz="0 1 0" rpy="0 0 0" />
158
+ </joint>
159
+
160
+ <link name="rr_castor_link">
161
+ <inertial>
162
+ <mass value="1" />
163
+ <origin xyz="0 0 0" />
164
+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
165
+ </inertial>
166
+ <visual>
167
+ <geometry>
168
+ <mesh filename="package://aloha_new_description/meshes/castor_joint.dae" />
169
+ </geometry>
170
+ </visual>
171
+ </link>
172
+
173
+ <joint name="rr_castor_wheel" type="continuous">
174
+ <origin xyz="-0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
175
+ <parent link="base_link" />
176
+ <child link="rr_castor_link" />
177
+ <axis xyz="0 1 0" rpy="0 0 0" />
178
+ </joint>
179
+
180
+ <link name="rl_castor_link">
181
+ <inertial>
182
+ <mass value="1" />
183
+ <origin xyz="0 0 0" />
184
+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
185
+ </inertial>
186
+ <visual>
187
+ <geometry>
188
+ <mesh filename="package://aloha_new_description/meshes/castor_joint.dae" />
189
+ </geometry>
190
+ </visual>
191
+ </link>
192
+
193
+ <joint name="rl_castor_wheel" type="continuous">
194
+ <origin xyz="-0.18955 0.17 -0.0380886" rpy="-1.57 0 0" />
195
+ <parent link="base_link" />
196
+ <child link="rl_castor_link" />
197
+ <axis xyz="0 1 0" rpy="0 0 0" />
198
+ </joint>
199
+
200
+ <link name="fl_wheel_link">
201
+ <inertial>
202
+ <mass value="1" />
203
+ <origin xyz="0 0 0" />
204
+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
205
+ </inertial>
206
+ <visual>
207
+ <geometry>
208
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
209
+ </geometry>
210
+ </visual>
211
+ <collision>
212
+ <origin
213
+ xyz="0 0 0"
214
+ rpy="0 0 0" />
215
+ <geometry>-->
216
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
217
+ </geometry>
218
+ </collision>
219
+ </link>
220
+
221
+ <joint name="fl_wheel" type="continuous">
222
+ <parent link="fl_castor_link"/>
223
+ <child link="fl_wheel_link"/>
224
+ <dynamics damping="0.0" friction="0.0"/>
225
+ <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
226
+ <axis xyz="0 0 1" rpy="0 0 0" />
227
+ </joint>
228
+
229
+ <link name="fr_wheel_link">
230
+ <inertial>
231
+ <mass value="1" />
232
+ <origin xyz="0 0 0" />
233
+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
234
+ </inertial>
235
+ <visual>
236
+ <geometry>
237
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
238
+ </geometry>
239
+ </visual>
240
+ <collision>
241
+ <origin
242
+ xyz="0 0 0"
243
+ rpy="0 0 0" />
244
+ <geometry>-->
245
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
246
+ </geometry>
247
+ </collision>
248
+ </link>
249
+
250
+ <joint name="fr_wheel" type="continuous">
251
+ <parent link="fr_castor_link"/>
252
+ <child link="fr_wheel_link"/>
253
+ <dynamics damping="0.0" friction="0.0"/>
254
+ <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
255
+ <axis xyz="0 0 1" rpy="0 0 0" />
256
+ </joint>
257
+
258
+ <link name="rr_wheel_link">
259
+ <inertial>
260
+ <mass value="1" />
261
+ <origin xyz="0 0 0" />
262
+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
263
+ <!--<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />-->
264
+ </inertial>
265
+ <visual>
266
+ <geometry>
267
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
268
+ </geometry>
269
+ </visual>
270
+ <collision>
271
+ <origin
272
+ xyz="0 0 0"
273
+ rpy="0 0 0" />
274
+ <geometry>
275
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
276
+ </geometry>
277
+ </collision>
278
+ </link>
279
+
280
+ <joint name="rr_wheel" type="continuous">
281
+ <parent link="rr_castor_link"/>
282
+ <child link="rr_wheel_link"/>
283
+ <dynamics damping="0.0" friction="0.0"/>
284
+ <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
285
+ <axis xyz="0 0 1" rpy="0 0 0" />
286
+ </joint>
287
+
288
+ <link name="rl_wheel_link">
289
+ <inertial>
290
+ <mass value="1" />
291
+ <origin xyz="0 0 0" />
292
+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
293
+ </inertial>
294
+ <visual>
295
+ <geometry>
296
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
297
+ </geometry>
298
+ </visual>
299
+ <collision>
300
+ <origin
301
+ xyz="0 0 0"
302
+ rpy="0 0 0" />
303
+ <geometry>
304
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
305
+ </geometry>
306
+ </collision>
307
+ </link>
308
+
309
+ <joint name="rl_wheel" type="continuous">
310
+ <parent link="rl_castor_link"/>
311
+ <child link="rl_wheel_link"/>
312
+ <dynamics damping="0.0" friction="0.0"/>
313
+ <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
314
+ <axis xyz="0 0 1" rpy="0 0 0" />
315
+ </joint>
316
+
317
+ <!-- aloha base -->
318
+ <joint name="base_joint" type="fixed">
319
+ <origin xyz="0 0 0.15" rpy="0 0 0" />
320
+ <parent link="footprint" />
321
+ <child link="base_link" />
322
+ <axis xyz="0 0 0" />
323
+ </joint>
324
+ <link name="body_Link">
325
+ <inertial>
326
+ <origin xyz="0.015107 -0.027922 0.00013672" rpy="0 0 0" />
327
+ <mass value="3.736" />
328
+ <inertia ixx="0.097545" ixy="-9.2609E-06" ixz="0.00015366" iyy="0.045841" iyz="-0.0020459" izz="0.084773" />
329
+ </inertial>
330
+ <visual>
331
+ <origin xyz="0 0 0.168" rpy="0 0 3.14" />
332
+ <geometry>
333
+ <mesh filename="package://aloha_new_description/meshes/body.dae" />
334
+ </geometry>
335
+ <material name="">
336
+ <color rgba="0.79216 0.81961 0.93333 1" />
337
+ </material>
338
+ </visual>
339
+ <collision>
340
+ <origin xyz="0 0 0.168" rpy="0 0 3.14" />
341
+ <geometry>
342
+ <mesh filename="package://aloha_new_description/meshes/body.dae" />
343
+ </geometry>
344
+ </collision>
345
+ </link>
346
+ <joint name="body_joint" type="fixed">
347
+ <origin xyz="0 0 0" rpy="0 0 0" />
348
+ <parent link="footprint" />
349
+ <child link="body_Link" />
350
+ <axis xyz="0 0 0" />
351
+ </joint>
352
+ <!--***************************** front-left ****************************** -->
353
+ <link name="fl_base_link">
354
+ <inertial>
355
+ <origin
356
+ xyz="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189"
357
+ rpy="0 0 0" />
358
+ <mass value="0.162548567403693" />
359
+ <inertia
360
+ ixx="0.000226596924525071"
361
+ ixy="-7.33972270153965E-08"
362
+ ixz="2.13249977802622E-06"
363
+ iyy="0.000269444772561524"
364
+ iyz="8.15169009611054E-09"
365
+ izz="0.000222318258878636" />
366
+ </inertial>
367
+ <visual>
368
+ <origin xyz="0 0 0" rpy="0 0 0" />
369
+ <geometry>
370
+ <mesh filename="package://aloha_new_description/meshes/base_link.dae" />
371
+ </geometry>
372
+ <material name="">
373
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
374
+ </material>
375
+ </visual>
376
+ <collision>
377
+ <origin xyz="0 0 0" rpy="0 0 0" />
378
+ <geometry>
379
+ <mesh filename="package://aloha_new_description/meshes/base_link.STL" />
380
+ </geometry>
381
+ </collision>
382
+ </link>
383
+ <joint name="fl_base_joint" type="fixed">
384
+ <origin xyz="0.23875 0.3 0.775" rpy="0.0 0.0 0.0" />
385
+ <parent link="body_Link" />
386
+ <child link="fl_base_link" />
387
+ <axis xyz="0.0 0.0 1.0" />
388
+ </joint>
389
+
390
+ <link name="fl_link1">
391
+ <inertial>
392
+ <origin
393
+ xyz="0.00131676031927024 0.000310288842008612 -0.00922874512303437"
394
+ rpy="0 0 0" />
395
+ <mass value="0.0978679932242825" />
396
+ <inertia
397
+ ixx="7.76684558296782E-05"
398
+ ixy="1.09084650459924E-07"
399
+ ixz="-1.9748053243241E-06"
400
+ iyy="9.24967780161547E-05"
401
+ iyz="9.91284646834582E-07"
402
+ izz="8.24589062407807E-05" />
403
+ </inertial>
404
+ <visual>
405
+ <origin xyz="0 0 0" rpy="0 0 0" />
406
+ <geometry>
407
+ <mesh filename="package://aloha_new_description/meshes/link1.dae" />
408
+ </geometry>
409
+ <material name="">
410
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
411
+ </material>
412
+ </visual>
413
+ <collision>
414
+ <origin xyz="0 0 0" rpy="0 0 0" />
415
+ <geometry>
416
+ <mesh filename="package://aloha_new_description/meshes/link1.STL" />
417
+ </geometry>
418
+ </collision>
419
+ </link>
420
+ <joint name="fl_joint1" type="revolute">
421
+ <origin xyz="0 0 0.123" rpy="0 0 -1.5708" />
422
+ <parent link="fl_base_link" />
423
+ <child link="fl_link1" />
424
+ <axis xyz="0 0 1" />
425
+ <limit lower="-2.618" upper="2.618" effort="100" velocity="3" />
426
+ </joint>
427
+
428
+ <link name="fl_link2">
429
+ <inertial>
430
+ <origin
431
+ xyz="0.148793602378802 -0.00242026983944119 0.00175154638467948"
432
+ rpy="0 0 0" />
433
+ <mass value="0.290888938633388" />
434
+ <inertia
435
+ ixx="0.000148959640166183"
436
+ ixy="-7.37750384371657E-05"
437
+ ixz="-9.68688405196236E-07"
438
+ iyy="0.00172800946632652"
439
+ iyz="-1.09692225564224E-06"
440
+ izz="0.0017754628344594" />
441
+ </inertial>
442
+ <visual>
443
+ <origin xyz="0 0 0" rpy="0 0 0" />
444
+ <geometry>
445
+ <mesh filename="package://aloha_new_description/meshes/link2.dae" />
446
+ </geometry>
447
+ <material name="">
448
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
449
+ </material>
450
+ </visual>
451
+ <collision>
452
+ <origin xyz="0 0 0" rpy="0 0 0" />
453
+ <geometry>
454
+ <mesh filename="package://aloha_new_description/meshes/link2.STL" />
455
+ </geometry>
456
+ </collision>
457
+ </link>
458
+ <joint name="fl_joint2" type="revolute">
459
+ <origin xyz="0 0 0" rpy="1.5708 0 -1.5708" />
460
+ <parent link="fl_link1" />
461
+ <child link="fl_link2" />
462
+ <axis xyz="0 0 1" />
463
+ <limit lower="0" upper="3.14" effort="100" velocity="3" />
464
+ </joint>
465
+
466
+ <link name="fl_link3">
467
+ <inertial>
468
+ <origin
469
+ xyz="-0.0996835215213704 0.0349477226691318 0.000508025815507312"
470
+ rpy="0 0 0" />
471
+ <mass value="0.290847697793211" />
472
+ <inertia
473
+ ixx="0.000107879011637167"
474
+ ixy="2.92669521203626E-05"
475
+ ixz="6.825922326238E-07"
476
+ iyy="0.000214751671792086"
477
+ iyz="-7.78469047878196E-07"
478
+ izz="0.000241923439340319" />
479
+ </inertial>
480
+ <visual>
481
+ <origin xyz="0 0 0" rpy="0 0 0" />
482
+ <geometry>
483
+ <mesh filename="package://aloha_new_description/meshes/link3.dae" />
484
+ </geometry>
485
+ <material name="">
486
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
487
+ </material>
488
+ </visual>
489
+ <collision>
490
+ <origin xyz="0 0 0" rpy="0 0 0" />
491
+ <geometry>
492
+ <mesh filename="package://aloha_new_description/meshes/link3.STL" />
493
+ </geometry>
494
+ </collision>
495
+ </link>
496
+ <joint name="fl_joint3" type="revolute">
497
+ <origin xyz="0.28358 0.028726 0" rpy="0 0 0.10095" />
498
+ <parent link="fl_link2" />
499
+ <child link="fl_link3" />
500
+ <axis xyz="0 0 1" />
501
+ <limit lower="-2.697" upper="0" effort="100" velocity="3" />
502
+ </joint>
503
+
504
+ <link name="fl_link4">
505
+ <inertial>
506
+ <origin
507
+ xyz="0.000276464622387979 -0.00102803669324875 -0.00472830700561663"
508
+ rpy="0 0 0" />
509
+ <mass value="0.127087348341362" />
510
+ <inertia
511
+ ixx="3.82011730423416E-05"
512
+ ixy="-4.92358350897513E-08"
513
+ ixz="4.89589432973119E-08"
514
+ iyy="4.87048555222578E-05"
515
+ iyz="6.70802942500512E-08"
516
+ izz="4.10592077565559E-05" />
517
+ </inertial>
518
+ <visual>
519
+ <origin xyz="0 0 0" rpy="0 0 0" />
520
+ <geometry>
521
+ <mesh filename="package://aloha_new_description/meshes/link4.dae" />
522
+ </geometry>
523
+ <material name="">
524
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
525
+ </material>
526
+ </visual>
527
+ <collision>
528
+ <origin xyz="0 0 0" rpy="0 0 0" />
529
+ <geometry>
530
+ <mesh filename="package://aloha_new_description/meshes/link4.STL" />
531
+ </geometry>
532
+ </collision>
533
+ </link>
534
+ <joint name="fl_joint4" type="revolute">
535
+ <origin xyz="-0.24221 0.068514 0" rpy="-1.5708 0 1.3826" />
536
+ <parent link="fl_link3" />
537
+ <child link="fl_link4" />
538
+ <axis xyz="0 0 1" />
539
+ <limit lower="-1.832" upper="1.832" effort="100" velocity="3" />
540
+ </joint>
541
+
542
+ <link name="fl_link5">
543
+ <inertial>
544
+ <origin
545
+ xyz="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461"
546
+ rpy="0 0 0" />
547
+ <mass value="0.144711242639457" />
548
+ <inertia
549
+ ixx="4.39644313662493E-05"
550
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580
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618
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656
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694
+ <!--***************************** front-right ****************************** -->
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732
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960
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998
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1
+ <?xml version="1.0" encoding="utf-8" ?>
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+ <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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+ Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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+ filename="package://aloha_new_description/meshes/tracer_base_link_no_wheel.dae" />
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+ <!--<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>-->
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+ </geometry>
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+ <mass value="132.3898489950015" />
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+ <!-- <mass value="50" /> -->
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+ <inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
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+ <origin xyz="0.015 0.0231316650320557 0" />
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+ rpy="0 0 0" />-->
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+ iyy="0.364893736238929"
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+ <!--<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />-->
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="package://aloha_new_description/meshes/tracer_wheel.dae" />
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+ </geometry>
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+ </link>
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+ <joint name="right_wheel" type="continuous">
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+ <parent link="base_link"/>
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+ <origin xyz="0 -0.17 -0.082" rpy="0 0 0" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+ <link name="left_wheel_link">
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+ <origin xyz="0 0 0" />
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+ <mesh filename="package://aloha_new_description/meshes/tracer_wheel.dae" />
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+ </geometry>
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+ <joint name="left_wheel" type="continuous">
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+ <parent link="base_link"/>
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+ <origin xyz="0 0.17 -0.082" rpy="0 0 0" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ <link name="fl_castor_link">
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+ </inertial>
126
+ <visual>
127
+ <geometry>
128
+ <mesh filename="package://aloha_new_description/meshes/castor_joint.dae" />
129
+ </geometry>
130
+ </visual>
131
+ </link>
132
+
133
+ <joint name="fl_castor_wheel" type="continuous">
134
+ <parent link="base_link" />
135
+ <child link="fl_castor_link" />
136
+ <origin xyz="0.19 0.17 -0.038" rpy="-1.57 0 0" />
137
+ <axis xyz="0 1 0" rpy="0 0 0" />
138
+ </joint>
139
+
140
+ <link name="fr_castor_link">
141
+ <inertial>
142
+ <mass value="1" />
143
+ <origin xyz="0 0 0" />
144
+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
145
+ </inertial>
146
+ <visual>
147
+ <geometry>
148
+ <mesh filename="package://aloha_new_description/meshes/castor_joint.dae" />
149
+ </geometry>
150
+ </visual>
151
+ </link>
152
+
153
+ <joint name="fr_castor_wheel" type="continuous">
154
+ <origin xyz="0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
155
+ <parent link="base_link" />
156
+ <child link="fr_castor_link" />
157
+ <axis xyz="0 1 0" rpy="0 0 0" />
158
+ </joint>
159
+
160
+ <link name="rr_castor_link">
161
+ <inertial>
162
+ <mass value="1" />
163
+ <origin xyz="0 0 0" />
164
+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
165
+ </inertial>
166
+ <visual>
167
+ <geometry>
168
+ <mesh filename="package://aloha_new_description/meshes/castor_joint.dae" />
169
+ </geometry>
170
+ </visual>
171
+ </link>
172
+
173
+ <joint name="rr_castor_wheel" type="continuous">
174
+ <origin xyz="-0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
175
+ <parent link="base_link" />
176
+ <child link="rr_castor_link" />
177
+ <axis xyz="0 1 0" rpy="0 0 0" />
178
+ </joint>
179
+
180
+ <link name="rl_castor_link">
181
+ <inertial>
182
+ <mass value="1" />
183
+ <origin xyz="0 0 0" />
184
+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
185
+ </inertial>
186
+ <visual>
187
+ <geometry>
188
+ <mesh filename="package://aloha_new_description/meshes/castor_joint.dae" />
189
+ </geometry>
190
+ </visual>
191
+ </link>
192
+
193
+ <joint name="rl_castor_wheel" type="continuous">
194
+ <origin xyz="-0.18955 0.17 -0.0380886" rpy="-1.57 0 0" />
195
+ <parent link="base_link" />
196
+ <child link="rl_castor_link" />
197
+ <axis xyz="0 1 0" rpy="0 0 0" />
198
+ </joint>
199
+
200
+ <link name="fl_wheel_link">
201
+ <inertial>
202
+ <mass value="1" />
203
+ <origin xyz="0 0 0" />
204
+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
205
+ </inertial>
206
+ <visual>
207
+ <geometry>
208
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
209
+ </geometry>
210
+ </visual>
211
+ <collision>
212
+ <origin
213
+ xyz="0 0 0"
214
+ rpy="0 0 0" />
215
+ <geometry>-->
216
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
217
+ </geometry>
218
+ </collision>
219
+ </link>
220
+
221
+ <joint name="fl_wheel" type="continuous">
222
+ <parent link="fl_castor_link"/>
223
+ <child link="fl_wheel_link"/>
224
+ <dynamics damping="0.0" friction="0.0"/>
225
+ <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
226
+ <axis xyz="0 0 1" rpy="0 0 0" />
227
+ </joint>
228
+
229
+ <link name="fr_wheel_link">
230
+ <inertial>
231
+ <mass value="1" />
232
+ <origin xyz="0 0 0" />
233
+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
234
+ </inertial>
235
+ <visual>
236
+ <geometry>
237
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
238
+ </geometry>
239
+ </visual>
240
+ <collision>
241
+ <origin
242
+ xyz="0 0 0"
243
+ rpy="0 0 0" />
244
+ <geometry>-->
245
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
246
+ </geometry>
247
+ </collision>
248
+ </link>
249
+
250
+ <joint name="fr_wheel" type="continuous">
251
+ <parent link="fr_castor_link"/>
252
+ <child link="fr_wheel_link"/>
253
+ <dynamics damping="0.0" friction="0.0"/>
254
+ <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
255
+ <axis xyz="0 0 1" rpy="0 0 0" />
256
+ </joint>
257
+
258
+ <link name="rr_wheel_link">
259
+ <inertial>
260
+ <mass value="1" />
261
+ <origin xyz="0 0 0" />
262
+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
263
+ <!--<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />-->
264
+ </inertial>
265
+ <visual>
266
+ <geometry>
267
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
268
+ </geometry>
269
+ </visual>
270
+ <collision>
271
+ <origin
272
+ xyz="0 0 0"
273
+ rpy="0 0 0" />
274
+ <geometry>
275
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
276
+ </geometry>
277
+ </collision>
278
+ </link>
279
+
280
+ <joint name="rr_wheel" type="continuous">
281
+ <parent link="rr_castor_link"/>
282
+ <child link="rr_wheel_link"/>
283
+ <dynamics damping="0.0" friction="0.0"/>
284
+ <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
285
+ <axis xyz="0 0 1" rpy="0 0 0" />
286
+ </joint>
287
+
288
+ <link name="rl_wheel_link">
289
+ <inertial>
290
+ <mass value="1" />
291
+ <origin xyz="0 0 0" />
292
+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
293
+ </inertial>
294
+ <visual>
295
+ <geometry>
296
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
297
+ </geometry>
298
+ </visual>
299
+ <collision>
300
+ <origin
301
+ xyz="0 0 0"
302
+ rpy="0 0 0" />
303
+ <geometry>
304
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
305
+ </geometry>
306
+ </collision>
307
+ </link>
308
+
309
+ <joint name="rl_wheel" type="continuous">
310
+ <parent link="rl_castor_link"/>
311
+ <child link="rl_wheel_link"/>
312
+ <dynamics damping="0.0" friction="0.0"/>
313
+ <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
314
+ <axis xyz="0 0 1" rpy="0 0 0" />
315
+ </joint>
316
+
317
+ <!-- aloha base -->
318
+ <joint name="base_joint" type="fixed">
319
+ <origin xyz="0 0 0.15" rpy="0 0 0" />
320
+ <parent link="footprint" />
321
+ <child link="base_link" />
322
+ <axis xyz="0 0 0" />
323
+ </joint>
324
+ <link name="body_Link">
325
+ <inertial>
326
+ <origin xyz="0.015107 -0.027922 0.00013672" rpy="0 0 0" />
327
+ <mass value="3.736" />
328
+ <inertia ixx="0.097545" ixy="-9.2609E-06" ixz="0.00015366" iyy="0.045841" iyz="-0.0020459" izz="0.084773" />
329
+ </inertial>
330
+ <visual>
331
+ <origin xyz="0 0 0.168" rpy="0 0 3.14" />
332
+ <geometry>
333
+ <mesh filename="package://aloha_new_description/meshes/body.dae" />
334
+ </geometry>
335
+ <material name="">
336
+ <color rgba="0.79216 0.81961 0.93333 1" />
337
+ </material>
338
+ </visual>
339
+ <collision>
340
+ <origin xyz="0 0 0.168" rpy="0 0 3.14" />
341
+ <geometry>
342
+ <mesh filename="package://aloha_new_description/meshes/body.dae" />
343
+ </geometry>
344
+ </collision>
345
+ </link>
346
+ <joint name="body_joint" type="fixed">
347
+ <origin xyz="0 0 0" rpy="0 0 0" />
348
+ <parent link="footprint" />
349
+ <child link="body_Link" />
350
+ <axis xyz="0 0 0" />
351
+ </joint>
352
+ <!--***************************** front-left ****************************** -->
353
+ <link name="fl_base_link">
354
+ <inertial>
355
+ <origin
356
+ xyz="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189"
357
+ rpy="0 0 0" />
358
+ <mass value="0.162548567403693" />
359
+ <inertia
360
+ ixx="0.000226596924525071"
361
+ ixy="-7.33972270153965E-08"
362
+ ixz="2.13249977802622E-06"
363
+ iyy="0.000269444772561524"
364
+ iyz="8.15169009611054E-09"
365
+ izz="0.000222318258878636" />
366
+ </inertial>
367
+ <visual>
368
+ <origin xyz="0 0 0" rpy="0 0 0" />
369
+ <geometry>
370
+ <mesh filename="package://aloha_new_description/meshes/base_link.dae" />
371
+ </geometry>
372
+ <material name="">
373
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
374
+ </material>
375
+ </visual>
376
+ <collision>
377
+ <origin xyz="0 0 0" rpy="0 0 0" />
378
+ <geometry>
379
+ <mesh filename="package://aloha_new_description/meshes/base_link.STL" />
380
+ </geometry>
381
+ </collision>
382
+ </link>
383
+ <joint name="fl_base_joint" type="fixed">
384
+ <origin xyz="0.23875 0.3 0.775" rpy="0.0 0.0 0.0" />
385
+ <parent link="body_Link" />
386
+ <child link="fl_base_link" />
387
+ <axis xyz="0.0 0.0 1.0" />
388
+ </joint>
389
+
390
+ <link name="fl_link1">
391
+ <inertial>
392
+ <origin
393
+ xyz="0.00131676031927024 0.000310288842008612 -0.00922874512303437"
394
+ rpy="0 0 0" />
395
+ <mass value="0.0978679932242825" />
396
+ <inertia
397
+ ixx="7.76684558296782E-05"
398
+ ixy="1.09084650459924E-07"
399
+ ixz="-1.9748053243241E-06"
400
+ iyy="9.24967780161547E-05"
401
+ iyz="9.91284646834582E-07"
402
+ izz="8.24589062407807E-05" />
403
+ </inertial>
404
+ <visual>
405
+ <origin xyz="0 0 0" rpy="0 0 0" />
406
+ <geometry>
407
+ <mesh filename="package://aloha_new_description/meshes/link1.dae" />
408
+ </geometry>
409
+ <material name="">
410
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
411
+ </material>
412
+ </visual>
413
+ <collision>
414
+ <origin xyz="0 0 0" rpy="0 0 0" />
415
+ <geometry>
416
+ <mesh filename="package://aloha_new_description/meshes/link1.STL" />
417
+ </geometry>
418
+ </collision>
419
+ </link>
420
+ <joint name="fl_joint1" type="revolute">
421
+ <origin xyz="0 0 0.123" rpy="0 0 -1.5708" />
422
+ <parent link="fl_base_link" />
423
+ <child link="fl_link1" />
424
+ <axis xyz="0 0 1" />
425
+ <limit lower="-2.618" upper="2.618" effort="100" velocity="3" />
426
+ </joint>
427
+
428
+ <link name="fl_link2">
429
+ <inertial>
430
+ <origin
431
+ xyz="0.148793602378802 -0.00242026983944119 0.00175154638467948"
432
+ rpy="0 0 0" />
433
+ <mass value="0.290888938633388" />
434
+ <inertia
435
+ ixx="0.000148959640166183"
436
+ ixy="-7.37750384371657E-05"
437
+ ixz="-9.68688405196236E-07"
438
+ iyy="0.00172800946632652"
439
+ iyz="-1.09692225564224E-06"
440
+ izz="0.0017754628344594" />
441
+ </inertial>
442
+ <visual>
443
+ <origin xyz="0 0 0" rpy="0 0 0" />
444
+ <geometry>
445
+ <mesh filename="package://aloha_new_description/meshes/link2.dae" />
446
+ </geometry>
447
+ <material name="">
448
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
449
+ </material>
450
+ </visual>
451
+ <collision>
452
+ <origin xyz="0 0 0" rpy="0 0 0" />
453
+ <geometry>
454
+ <mesh filename="package://aloha_new_description/meshes/link2.STL" />
455
+ </geometry>
456
+ </collision>
457
+ </link>
458
+ <joint name="fl_joint2" type="revolute">
459
+ <origin xyz="0 0 0" rpy="1.5708 -0.034907 -1.5708" />
460
+ <parent link="fl_link1" />
461
+ <child link="fl_link2" />
462
+ <axis xyz="0 0 1" />
463
+ <limit lower="0" upper="3.14" effort="100" velocity="3" />
464
+ </joint>
465
+
466
+ <link name="fl_link3">
467
+ <inertial>
468
+ <origin
469
+ xyz="-0.0996835215213704 0.0349477226691318 0.000508025815507312"
470
+ rpy="0 0 0" />
471
+ <mass value="0.290847697793211" />
472
+ <inertia
473
+ ixx="0.000107879011637167"
474
+ ixy="2.92669521203626E-05"
475
+ ixz="6.825922326238E-07"
476
+ iyy="0.000214751671792086"
477
+ iyz="-7.78469047878196E-07"
478
+ izz="0.000241923439340319" />
479
+ </inertial>
480
+ <visual>
481
+ <origin xyz="0 0 0" rpy="0 0 0" />
482
+ <geometry>
483
+ <mesh filename="package://aloha_new_description/meshes/link3.dae" />
484
+ </geometry>
485
+ <material name="">
486
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
487
+ </material>
488
+ </visual>
489
+ <collision>
490
+ <origin xyz="0 0 0" rpy="0 0 0" />
491
+ <geometry>
492
+ <mesh filename="package://aloha_new_description/meshes/link3.STL" />
493
+ </geometry>
494
+ </collision>
495
+ </link>
496
+ <joint name="fl_joint3" type="revolute">
497
+ <origin xyz="0.28358 0.028726 0" rpy="0 0 0.06604341" />
498
+ <parent link="fl_link2" />
499
+ <child link="fl_link3" />
500
+ <axis xyz="0 0 1" />
501
+ <limit lower="-2.697" upper="0" effort="100" velocity="3" />
502
+ </joint>
503
+
504
+ <link name="fl_link4">
505
+ <inertial>
506
+ <origin
507
+ xyz="0.000276464622387979 -0.00102803669324875 -0.00472830700561663"
508
+ rpy="0 0 0" />
509
+ <mass value="0.127087348341362" />
510
+ <inertia
511
+ ixx="3.82011730423416E-05"
512
+ ixy="-4.92358350897513E-08"
513
+ ixz="4.89589432973119E-08"
514
+ iyy="4.87048555222578E-05"
515
+ iyz="6.70802942500512E-08"
516
+ izz="4.10592077565559E-05" />
517
+ </inertial>
518
+ <visual>
519
+ <origin xyz="0 0 0" rpy="0 0 0" />
520
+ <geometry>
521
+ <mesh filename="package://aloha_new_description/meshes/link4.dae" />
522
+ </geometry>
523
+ <material name="">
524
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
525
+ </material>
526
+ </visual>
527
+ <collision>
528
+ <origin xyz="0 0 0" rpy="0 0 0" />
529
+ <geometry>
530
+ <mesh filename="package://aloha_new_description/meshes/link4.STL" />
531
+ </geometry>
532
+ </collision>
533
+ </link>
534
+ <joint name="fl_joint4" type="revolute">
535
+ <origin xyz="-0.24221 0.068514 0" rpy="-1.5708 0 1.3826" />
536
+ <parent link="fl_link3" />
537
+ <child link="fl_link4" />
538
+ <axis xyz="0 0 1" />
539
+ <limit lower="-1.832" upper="1.832" effort="100" velocity="3" />
540
+ </joint>
541
+
542
+ <link name="fl_link5">
543
+ <inertial>
544
+ <origin
545
+ xyz="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461"
546
+ rpy="0 0 0" />
547
+ <mass value="0.144711242639457" />
548
+ <inertia
549
+ ixx="4.39644313662493E-05"
550
+ ixy="-3.59259686444846E-08"
551
+ ixz="-1.89747741386183E-08"
552
+ iyy="5.63173920951307E-05"
553
+ iyz="-2.1540716689785E-07"
554
+ izz="4.88713664675268E-05" />
555
+ </inertial>
556
+ <visual>
557
+ <origin xyz="0 0 0" rpy="0 0 0" />
558
+ <geometry>
559
+ <mesh filename="package://aloha_new_description/meshes/link5.dae" />
560
+ </geometry>
561
+ <material name="">
562
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
563
+ </material>
564
+ </visual>
565
+ <collision>
566
+ <origin xyz="0 0 0" rpy="0 0 0" />
567
+ <geometry>
568
+ <mesh filename="package://aloha_new_description/meshes/link5.STL" />
569
+ </geometry>
570
+ </collision>
571
+ </link>
572
+ <joint name="fl_joint5" type="revolute">
573
+ <origin xyz="0 0 0" rpy="1.5708 0 0" />
574
+ <parent link="fl_link4" />
575
+ <child link="fl_link5" />
576
+ <axis xyz="0 0 1" />
577
+ <limit lower="-1.22" upper="1.22" effort="100" velocity="3" />
578
+ </joint>
579
+
580
+ <link name="fl_link6">
581
+ <inertial>
582
+ <origin
583
+ xyz="0.00103120214523473 0.0121761387587524 0.0315480874960164"
584
+ rpy="0 0 0" />
585
+ <mass value="0.195187143240719" />
586
+ <inertia
587
+ ixx="6.43790256535539E-05"
588
+ ixy="-1.2366166157046E-06"
589
+ ixz="1.97664606328472E-07"
590
+ iyy="0.000126146396374301"
591
+ iyz="2.41157078516408E-06"
592
+ izz="0.000154087076816444" />
593
+ </inertial>
594
+ <visual>
595
+ <origin xyz="0 0 0" rpy="0 0 0" />
596
+ <geometry>
597
+ <mesh filename="package://aloha_new_description/meshes/piper_slave_meshes/link6.dae" />
598
+ </geometry>
599
+ <material name="">
600
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
601
+ </material>
602
+ </visual>
603
+ <collision>
604
+ <origin xyz="0 0 0" rpy="0 0 0" />
605
+ <geometry>
606
+ <mesh filename="package://aloha_new_description/meshes/piper_slave_meshes/link6.STL" />
607
+ </geometry>
608
+ </collision>
609
+ </link>
610
+ <joint name="fl_joint6" type="revolute">
611
+ <origin xyz="0 0.091 0.0014165" rpy="-1.5708 -1.5708 0" />
612
+ <parent link="fl_link5" />
613
+ <child link="fl_link6" />
614
+ <axis xyz="0 0 1" />
615
+ <limit lower="-3.14" upper="3.14" effort="100" velocity="3" />
616
+ </joint>
617
+
618
+ <link name="fl_link7">
619
+ <inertial>
620
+ <origin
621
+ xyz="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201"
622
+ rpy="0 0 0" />
623
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656
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694
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730
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732
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770
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808
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960
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+ </joint>
1035
+ <!--***************************** back-left ****************************** -->
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+ <link name="bl_base_link">
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+ <parent link="body_Link" />
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1073
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+ </robot>
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+
ROBOTS/mobile_aloha_sim-2.0.0/aloha_new_description/urdf/aloha_new_wo_material_color.urdf ADDED
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1
+ <?xml version="1.0" encoding="utf-8" ?>
2
+ <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
3
+ Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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+ For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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+ <robot name="arx5_description" xmlns:xacro="http://www.ros.org/wiki/xacro">
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+ <!-- <link name="footprint"/> -->
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+
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+ <!-- <xacro:include filename="$(find tracer_description)/urdf/tracer_v1.xacro"/> -->
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+
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+ <link name="footprint">
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+
13
+ <!-- tracer base -->
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+ <link name="base_link">
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+ <visual>
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+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
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+ <!--<origin xyz="0 0 0" rpy="0 0 0"/>-->
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+ <geometry>
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+ <mesh filename="package://aloha_new_description/meshes/tracer_base_link_no_wheel.dae" />
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+ <!--<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>-->
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+ </geometry>
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+ </visual>
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+ <collision>
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+ xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
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+ rpy="0 0 0" /-->
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+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
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+ <geometry>
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+ <mesh
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+ filename="package://aloha_new_description/meshes/tracer_base_link_no_wheel.dae" />
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+ <!--<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>-->
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+ </geometry>
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+ </collision>
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+ </link>
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+ <link name="inertial_link">
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+ <inertial>
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+ <!--mass value="44.3898489950015" /-->
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+ <mass value="132.3898489950015" />
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+ <!-- <mass value="50" /> -->
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+ <!-- <origin xyz="-0.00065 -0.085 0.062" />
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+ <inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
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+ <origin xyz="0.015 0.0231316650320557 0" />
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+ <!--<origin
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+ xyz="-0.0145261552504705 0.0231316650320557 0.00586280190939592"
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+ rpy="0 0 0" />-->
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+ <inertia ixx="0.185196122711036"
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+ ixy="4.30144213829512E-08"
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+ ixz="5.81037523686401E-08"
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+ iyy="0.364893736238929"
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+ iyz="-0.000386720198091934"
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+ izz="0.223868521722778" />
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+ <!--<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />-->
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+ </inertial>
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+ </link>
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+
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+ <joint name="inertial_joint" type="fixed">
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <parent link="base_link" />
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+ <child link="inertial_link" />
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+ </joint>
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+
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+ <link name="right_wheel_link">
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+ <inertial>
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+ <mass value="6" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="package://aloha_new_description/meshes/tracer_wheel.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="package://aloha_new_description/meshes/tracer_wheel.dae" />
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+ </geometry>
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+ </collision>
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+ </link>
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+
84
+ <joint name="right_wheel" type="continuous">
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+ <parent link="base_link"/>
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+ <child link="right_wheel_link"/>
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+ <origin xyz="0 -0.17 -0.082" rpy="0 0 0" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
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+ <link name="left_wheel_link">
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+ <inertial>
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+ <mass value="6" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="package://aloha_new_description/meshes/tracer_wheel.dae" />
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+ </geometry>
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+ </visual>
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+ <collision>
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+ <origin
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+ xyz="0 0 0"
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+ rpy="0 0 0" />
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+ <geometry>
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+ <mesh filename="package://aloha_new_description/meshes/tracer_wheel.dae" />
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+ </geometry>
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+ </collision>
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+ </link>
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+
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+ <joint name="left_wheel" type="continuous">
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+ <parent link="base_link"/>
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+ <child link="left_wheel_link"/>
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+ <origin xyz="0 0.17 -0.082" rpy="0 0 0" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
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+ <link name="fl_castor_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <mesh filename="package://aloha_new_description/meshes/castor_joint.dae" />
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+ </geometry>
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+ </visual>
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+ </link>
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+
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+ <joint name="fl_castor_wheel" type="continuous">
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+ <parent link="base_link" />
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+ <child link="fl_castor_link" />
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+ <origin xyz="0.19 0.17 -0.038" rpy="-1.57 0 0" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
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+ </joint>
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+
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+ <link name="fr_castor_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="package://aloha_new_description/meshes/castor_joint.dae" />
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+ </geometry>
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+ </visual>
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+ </link>
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+
153
+ <joint name="fr_castor_wheel" type="continuous">
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+ <origin xyz="0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
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+ <parent link="base_link" />
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+ <child link="fr_castor_link" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
158
+ </joint>
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+
160
+ <link name="rr_castor_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="package://aloha_new_description/meshes/castor_joint.dae" />
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+ </geometry>
170
+ </visual>
171
+ </link>
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+
173
+ <joint name="rr_castor_wheel" type="continuous">
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+ <origin xyz="-0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" />
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+ <parent link="base_link" />
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+ <child link="rr_castor_link" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
178
+ </joint>
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+
180
+ <link name="rl_castor_link">
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+ <inertial>
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+ <mass value="1" />
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+ <origin xyz="0 0 0" />
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+ <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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+ </inertial>
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+ <visual>
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+ <geometry>
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+ <mesh filename="package://aloha_new_description/meshes/castor_joint.dae" />
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+ </geometry>
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+ </visual>
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+ </link>
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+
193
+ <joint name="rl_castor_wheel" type="continuous">
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+ <origin xyz="-0.18955 0.17 -0.0380886" rpy="-1.57 0 0" />
195
+ <parent link="base_link" />
196
+ <child link="rl_castor_link" />
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+ <axis xyz="0 1 0" rpy="0 0 0" />
198
+ </joint>
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+
200
+ <link name="fl_wheel_link">
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+ <inertial>
202
+ <mass value="1" />
203
+ <origin xyz="0 0 0" />
204
+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
205
+ </inertial>
206
+ <visual>
207
+ <geometry>
208
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
209
+ </geometry>
210
+ </visual>
211
+ <collision>
212
+ <origin
213
+ xyz="0 0 0"
214
+ rpy="0 0 0" />
215
+ <geometry>-->
216
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
217
+ </geometry>
218
+ </collision>
219
+ </link>
220
+
221
+ <joint name="fl_wheel" type="continuous">
222
+ <parent link="fl_castor_link"/>
223
+ <child link="fl_wheel_link"/>
224
+ <dynamics damping="0.0" friction="0.0"/>
225
+ <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
226
+ <axis xyz="0 0 1" rpy="0 0 0" />
227
+ </joint>
228
+
229
+ <link name="fr_wheel_link">
230
+ <inertial>
231
+ <mass value="1" />
232
+ <origin xyz="0 0 0" />
233
+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
234
+ </inertial>
235
+ <visual>
236
+ <geometry>
237
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
238
+ </geometry>
239
+ </visual>
240
+ <collision>
241
+ <origin
242
+ xyz="0 0 0"
243
+ rpy="0 0 0" />
244
+ <geometry>-->
245
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
246
+ </geometry>
247
+ </collision>
248
+ </link>
249
+
250
+ <joint name="fr_wheel" type="continuous">
251
+ <parent link="fr_castor_link"/>
252
+ <child link="fr_wheel_link"/>
253
+ <dynamics damping="0.0" friction="0.0"/>
254
+ <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
255
+ <axis xyz="0 0 1" rpy="0 0 0" />
256
+ </joint>
257
+
258
+ <link name="rr_wheel_link">
259
+ <inertial>
260
+ <mass value="1" />
261
+ <origin xyz="0 0 0" />
262
+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
263
+ <!--<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />-->
264
+ </inertial>
265
+ <visual>
266
+ <geometry>
267
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
268
+ </geometry>
269
+ </visual>
270
+ <collision>
271
+ <origin
272
+ xyz="0 0 0"
273
+ rpy="0 0 0" />
274
+ <geometry>
275
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
276
+ </geometry>
277
+ </collision>
278
+ </link>
279
+
280
+ <joint name="rr_wheel" type="continuous">
281
+ <parent link="rr_castor_link"/>
282
+ <child link="rr_wheel_link"/>
283
+ <dynamics damping="0.0" friction="0.0"/>
284
+ <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
285
+ <axis xyz="0 0 1" rpy="0 0 0" />
286
+ </joint>
287
+
288
+ <link name="rl_wheel_link">
289
+ <inertial>
290
+ <mass value="1" />
291
+ <origin xyz="0 0 0" />
292
+ <inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" />
293
+ </inertial>
294
+ <visual>
295
+ <geometry>
296
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
297
+ </geometry>
298
+ </visual>
299
+ <collision>
300
+ <origin
301
+ xyz="0 0 0"
302
+ rpy="0 0 0" />
303
+ <geometry>
304
+ <mesh filename="package://aloha_new_description/meshes/castor.dae" />
305
+ </geometry>
306
+ </collision>
307
+ </link>
308
+
309
+ <joint name="rl_wheel" type="continuous">
310
+ <parent link="rl_castor_link"/>
311
+ <child link="rl_wheel_link"/>
312
+ <dynamics damping="0.0" friction="0.0"/>
313
+ <origin xyz="-0.0218084 0.077 0" rpy="0 0 0" />
314
+ <axis xyz="0 0 1" rpy="0 0 0" />
315
+ </joint>
316
+
317
+ <!-- aloha base -->
318
+ <joint name="base_joint" type="fixed">
319
+ <origin xyz="0 0 0.15" rpy="0 0 0" />
320
+ <parent link="footprint" />
321
+ <child link="base_link" />
322
+ <axis xyz="0 0 0" />
323
+ </joint>
324
+ <link name="body_Link">
325
+ <inertial>
326
+ <origin xyz="0.015107 -0.027922 0.00013672" rpy="0 0 0" />
327
+ <mass value="3.736" />
328
+ <inertia ixx="0.097545" ixy="-9.2609E-06" ixz="0.00015366" iyy="0.045841" iyz="-0.0020459" izz="0.084773" />
329
+ </inertial>
330
+ <visual>
331
+ <origin xyz="0 0 0.168" rpy="0 0 3.14" />
332
+ <geometry>
333
+ <mesh filename="package://aloha_new_description/meshes/body.dae" />
334
+ </geometry>
335
+ <!-- <material name="">
336
+ <color rgba="0.79216 0.81961 0.93333 1" />
337
+ </material> -->
338
+ </visual>
339
+ <collision>
340
+ <origin xyz="0 0 0.168" rpy="0 0 3.14" />
341
+ <geometry>
342
+ <mesh filename="package://aloha_new_description/meshes/body.dae" />
343
+ </geometry>
344
+ </collision>
345
+ </link>
346
+ <joint name="body_joint" type="fixed">
347
+ <origin xyz="0 0 0" rpy="0 0 0" />
348
+ <parent link="footprint" />
349
+ <child link="body_Link" />
350
+ <axis xyz="0 0 0" />
351
+ </joint>
352
+ <!--***************************** front-left ****************************** -->
353
+ <link name="fl_base_link">
354
+ <inertial>
355
+ <origin
356
+ xyz="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189"
357
+ rpy="0 0 0" />
358
+ <mass value="0.162548567403693" />
359
+ <inertia
360
+ ixx="0.000226596924525071"
361
+ ixy="-7.33972270153965E-08"
362
+ ixz="2.13249977802622E-06"
363
+ iyy="0.000269444772561524"
364
+ iyz="8.15169009611054E-09"
365
+ izz="0.000222318258878636" />
366
+ </inertial>
367
+ <visual>
368
+ <origin xyz="0 0 0" rpy="0 0 0" />
369
+ <geometry>
370
+ <mesh filename="package://aloha_new_description/meshes/base_link.dae" />
371
+ </geometry>
372
+ <!-- <material name="">
373
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
374
+ </material> -->
375
+ </visual>
376
+ <collision>
377
+ <origin xyz="0 0 0" rpy="0 0 0" />
378
+ <geometry>
379
+ <mesh filename="package://aloha_new_description/meshes/base_link.STL" />
380
+ </geometry>
381
+ </collision>
382
+ </link>
383
+ <joint name="fl_base_joint" type="fixed">
384
+ <origin xyz="0.23875 0.3 0.775" rpy="0.0 0.0 0.0" />
385
+ <parent link="body_Link" />
386
+ <child link="fl_base_link" />
387
+ <axis xyz="0.0 0.0 1.0" />
388
+ </joint>
389
+
390
+ <link name="fl_link1">
391
+ <inertial>
392
+ <origin
393
+ xyz="0.00131676031927024 0.000310288842008612 -0.00922874512303437"
394
+ rpy="0 0 0" />
395
+ <mass value="0.0978679932242825" />
396
+ <inertia
397
+ ixx="7.76684558296782E-05"
398
+ ixy="1.09084650459924E-07"
399
+ ixz="-1.9748053243241E-06"
400
+ iyy="9.24967780161547E-05"
401
+ iyz="9.91284646834582E-07"
402
+ izz="8.24589062407807E-05" />
403
+ </inertial>
404
+ <visual>
405
+ <origin xyz="0 0 0" rpy="0 0 0" />
406
+ <geometry>
407
+ <mesh filename="package://aloha_new_description/meshes/link1.dae" />
408
+ </geometry>
409
+ <!-- <material name="">
410
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
411
+ </material> -->
412
+ </visual>
413
+ <collision>
414
+ <origin xyz="0 0 0" rpy="0 0 0" />
415
+ <geometry>
416
+ <mesh filename="package://aloha_new_description/meshes/link1.STL" />
417
+ </geometry>
418
+ </collision>
419
+ </link>
420
+ <joint name="fl_joint1" type="revolute">
421
+ <origin xyz="0 0 0.123" rpy="0 0 -1.5708" />
422
+ <parent link="fl_base_link" />
423
+ <child link="fl_link1" />
424
+ <axis xyz="0 0 1" />
425
+ <limit lower="-2.618" upper="2.618" effort="100" velocity="3" />
426
+ </joint>
427
+
428
+ <link name="fl_link2">
429
+ <inertial>
430
+ <origin
431
+ xyz="0.148793602378802 -0.00242026983944119 0.00175154638467948"
432
+ rpy="0 0 0" />
433
+ <mass value="0.290888938633388" />
434
+ <inertia
435
+ ixx="0.000148959640166183"
436
+ ixy="-7.37750384371657E-05"
437
+ ixz="-9.68688405196236E-07"
438
+ iyy="0.00172800946632652"
439
+ iyz="-1.09692225564224E-06"
440
+ izz="0.0017754628344594" />
441
+ </inertial>
442
+ <visual>
443
+ <origin xyz="0 0 0" rpy="0 0 0" />
444
+ <geometry>
445
+ <mesh filename="package://aloha_new_description/meshes/link2.dae" />
446
+ </geometry>
447
+ <!-- <material name="">
448
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
449
+ </material> -->
450
+ </visual>
451
+ <collision>
452
+ <origin xyz="0 0 0" rpy="0 0 0" />
453
+ <geometry>
454
+ <mesh filename="package://aloha_new_description/meshes/link2.STL" />
455
+ </geometry>
456
+ </collision>
457
+ </link>
458
+ <joint name="fl_joint2" type="revolute">
459
+ <origin xyz="0 0 0" rpy="1.5708 0 -1.5708" />
460
+ <parent link="fl_link1" />
461
+ <child link="fl_link2" />
462
+ <axis xyz="0 0 1" />
463
+ <limit lower="0" upper="3.14" effort="100" velocity="3" />
464
+ </joint>
465
+
466
+ <link name="fl_link3">
467
+ <inertial>
468
+ <origin
469
+ xyz="-0.0996835215213704 0.0349477226691318 0.000508025815507312"
470
+ rpy="0 0 0" />
471
+ <mass value="0.290847697793211" />
472
+ <inertia
473
+ ixx="0.000107879011637167"
474
+ ixy="2.92669521203626E-05"
475
+ ixz="6.825922326238E-07"
476
+ iyy="0.000214751671792086"
477
+ iyz="-7.78469047878196E-07"
478
+ izz="0.000241923439340319" />
479
+ </inertial>
480
+ <visual>
481
+ <origin xyz="0 0 0" rpy="0 0 0" />
482
+ <geometry>
483
+ <mesh filename="package://aloha_new_description/meshes/link3.dae" />
484
+ </geometry>
485
+ <!-- <material name="">
486
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
487
+ </material> -->
488
+ </visual>
489
+ <collision>
490
+ <origin xyz="0 0 0" rpy="0 0 0" />
491
+ <geometry>
492
+ <mesh filename="package://aloha_new_description/meshes/link3.STL" />
493
+ </geometry>
494
+ </collision>
495
+ </link>
496
+ <joint name="fl_joint3" type="revolute">
497
+ <origin xyz="0.28358 0.028726 0" rpy="0 0 0.10095" />
498
+ <parent link="fl_link2" />
499
+ <child link="fl_link3" />
500
+ <axis xyz="0 0 1" />
501
+ <limit lower="-2.697" upper="0" effort="100" velocity="3" />
502
+ </joint>
503
+
504
+ <link name="fl_link4">
505
+ <inertial>
506
+ <origin
507
+ xyz="0.000276464622387979 -0.00102803669324875 -0.00472830700561663"
508
+ rpy="0 0 0" />
509
+ <mass value="0.127087348341362" />
510
+ <inertia
511
+ ixx="3.82011730423416E-05"
512
+ ixy="-4.92358350897513E-08"
513
+ ixz="4.89589432973119E-08"
514
+ iyy="4.87048555222578E-05"
515
+ iyz="6.70802942500512E-08"
516
+ izz="4.10592077565559E-05" />
517
+ </inertial>
518
+ <visual>
519
+ <origin xyz="0 0 0" rpy="0 0 0" />
520
+ <geometry>
521
+ <mesh filename="package://aloha_new_description/meshes/link4.dae" />
522
+ </geometry>
523
+ <!-- <material name="">
524
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
525
+ </material> -->
526
+ </visual>
527
+ <collision>
528
+ <origin xyz="0 0 0" rpy="0 0 0" />
529
+ <geometry>
530
+ <mesh filename="package://aloha_new_description/meshes/link4.STL" />
531
+ </geometry>
532
+ </collision>
533
+ </link>
534
+ <joint name="fl_joint4" type="revolute">
535
+ <origin xyz="-0.24221 0.068514 0" rpy="-1.5708 0 1.3826" />
536
+ <parent link="fl_link3" />
537
+ <child link="fl_link4" />
538
+ <axis xyz="0 0 1" />
539
+ <limit lower="-1.832" upper="1.832" effort="100" velocity="3" />
540
+ </joint>
541
+
542
+ <link name="fl_link5">
543
+ <inertial>
544
+ <origin
545
+ xyz="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461"
546
+ rpy="0 0 0" />
547
+ <mass value="0.144711242639457" />
548
+ <inertia
549
+ ixx="4.39644313662493E-05"
550
+ ixy="-3.59259686444846E-08"
551
+ ixz="-1.89747741386183E-08"
552
+ iyy="5.63173920951307E-05"
553
+ iyz="-2.1540716689785E-07"
554
+ izz="4.88713664675268E-05" />
555
+ </inertial>
556
+ <visual>
557
+ <origin xyz="0 0 0" rpy="0 0 0" />
558
+ <geometry>
559
+ <mesh filename="package://aloha_new_description/meshes/link5.dae" />
560
+ </geometry>
561
+ <!-- <material name="">
562
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
563
+ </material> -->
564
+ </visual>
565
+ <collision>
566
+ <origin xyz="0 0 0" rpy="0 0 0" />
567
+ <geometry>
568
+ <mesh filename="package://aloha_new_description/meshes/link5.STL" />
569
+ </geometry>
570
+ </collision>
571
+ </link>
572
+ <joint name="fl_joint5" type="revolute">
573
+ <origin xyz="0 0 0" rpy="1.5708 0 0" />
574
+ <parent link="fl_link4" />
575
+ <child link="fl_link5" />
576
+ <axis xyz="0 0 1" />
577
+ <limit lower="-1.22" upper="1.22" effort="100" velocity="3" />
578
+ </joint>
579
+
580
+ <link name="fl_link6">
581
+ <inertial>
582
+ <origin
583
+ xyz="0.00103120214523473 0.0121761387587524 0.0315480874960164"
584
+ rpy="0 0 0" />
585
+ <mass value="0.195187143240719" />
586
+ <inertia
587
+ ixx="6.43790256535539E-05"
588
+ ixy="-1.2366166157046E-06"
589
+ ixz="1.97664606328472E-07"
590
+ iyy="0.000126146396374301"
591
+ iyz="2.41157078516408E-06"
592
+ izz="0.000154087076816444" />
593
+ </inertial>
594
+ <visual>
595
+ <origin xyz="0 0 0" rpy="0 0 0" />
596
+ <geometry>
597
+ <mesh filename="package://aloha_new_description/meshes/piper_slave_meshes/link6.dae" />
598
+ </geometry>
599
+ <!-- <material name="">
600
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
601
+ </material> -->
602
+ </visual>
603
+ <collision>
604
+ <origin xyz="0 0 0" rpy="0 0 0" />
605
+ <geometry>
606
+ <mesh filename="package://aloha_new_description/meshes/piper_slave_meshes/link6.STL" />
607
+ </geometry>
608
+ </collision>
609
+ </link>
610
+ <joint name="fl_joint6" type="revolute">
611
+ <origin xyz="0 0.091 0.0014165" rpy="-1.5708 -1.5708 0" />
612
+ <parent link="fl_link5" />
613
+ <child link="fl_link6" />
614
+ <axis xyz="0 0 1" />
615
+ <limit lower="-3.14" upper="3.14" effort="100" velocity="3" />
616
+ </joint>
617
+
618
+ <link name="fl_link7">
619
+ <inertial>
620
+ <origin
621
+ xyz="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201"
622
+ rpy="0 0 0" />
623
+ <mass value="0.02648229234527" />
624
+ <inertia
625
+ ixx="9.99787479924589E-06"
626
+ ixy="-1.57548495096104E-07"
627
+ ixz="-2.71342775003487E-08"
628
+ iyy="6.1795212293655E-06"
629
+ iyz="-1.58939803580081E-06"
630
+ izz="1.42102717246564E-05" />
631
+ </inertial>
632
+ <visual>
633
+ <origin xyz="0 0 0" rpy="0 0 0" />
634
+ <geometry>
635
+ <mesh filename="package://aloha_new_description/meshes/piper_slave_meshes/link7.dae" />
636
+ </geometry>
637
+ <!-- <material name="">
638
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
639
+ </material> -->
640
+ </visual>
641
+ <collision>
642
+ <origin xyz="0 0 0" rpy="0 0 0" />
643
+ <geometry>
644
+ <mesh filename="package://aloha_new_description/meshes/piper_slave_meshes/link7.STL" />
645
+ </geometry>
646
+ </collision>
647
+ </link>
648
+ <joint name="fl_joint7" type="prismatic">
649
+ <origin xyz="0 0 0.13503" rpy="1.5708 0 1.5708" />
650
+ <parent link="fl_link6" />
651
+ <child link="fl_link7" />
652
+ <axis xyz="0 0 -1" />
653
+ <limit lower="0" upper="0.04" effort="10" velocity="1" />
654
+ </joint>
655
+
656
+ <link name="fl_link8">
657
+ <inertial>
658
+ <origin
659
+ xyz="0.000277816920932317 0.0467673824063769 -0.00921030054508036"
660
+ rpy="0 0 0" />
661
+ <mass value="0.0264822021416248" />
662
+ <inertia
663
+ ixx="9.99779119357223E-06"
664
+ ixy="-1.57542283433504E-07"
665
+ ixz="2.71367446701359E-08"
666
+ iyy="6.17952441557932E-06"
667
+ iyz="1.58939319453383E-06"
668
+ izz="1.4210192754512E-05" />
669
+ </inertial>
670
+ <visual>
671
+ <origin xyz="0 0 0" rpy="0 0 0" />
672
+ <geometry>
673
+ <mesh filename="package://aloha_new_description/meshes/piper_slave_meshes/link8.dae" />
674
+ </geometry>
675
+ <!-- <material name="">
676
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
677
+ </material> -->
678
+ </visual>
679
+ <collision>
680
+ <origin xyz="0 0 0" rpy="0 0 0" />
681
+ <geometry>
682
+ <mesh filename="package://aloha_new_description/meshes/piper_slave_meshes/link8.STL" />
683
+ </geometry>
684
+ </collision>
685
+ </link>
686
+ <joint name="fl_joint8" type="prismatic">
687
+ <origin xyz="0 0 0.13503" rpy="-1.5708 0 1.5708" />
688
+ <parent link="fl_link6" />
689
+ <child link="fl_link8" />
690
+ <axis xyz="0 0 1" />
691
+ <limit lower="-0.04" upper="0" effort="10" velocity="1" />
692
+ </joint>
693
+
694
+ <!--***************************** front-right ****************************** -->
695
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+ <visual>
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+ <geometry>
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+ </geometry>
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+ <!-- <material name="">
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716
+ </material> -->
717
+ </visual>
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727
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728
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729
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730
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731
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732
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+ </geometry>
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+ <!-- <material name="">
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753
+ </material> -->
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+ </visual>
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770
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+ <!-- <material name="">
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+ </material> -->
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803
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804
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808
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846
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+ <visual>
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+ </geometry>
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+ <!-- <material name="">
866
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+ </material> -->
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+ </visual>
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+ <geometry>
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+ </material> -->
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+ </visual>
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+ <geometry>
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922
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+ </geometry>
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960
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+ </geometry>
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+ <limit lower="-0.04" upper="0" effort="10" velocity="1" />
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+ </joint>
1035
+ <!--***************************** back-left ****************************** -->
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+ </geometry>
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+ <!-- <material name="">
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+ </geometry>
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+ <!-- <material name="">
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1149
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ROBOTS/mobile_aloha_sim-2.0.0/aloha_new_description/urdf/single_aloha_new_wo_material_color.urdf ADDED
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+ <?xml version="1.0" encoding="utf-8" ?>
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+ <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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+ Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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+ For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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+ <parent link="fl_link6" />
350
+ <child link="fl_link8" />
351
+ <axis xyz="0 0 1" />
352
+ <limit lower="-0.04" upper="0" effort="10" velocity="1" />
353
+ </joint>
354
+ </robot>
355
+
ROBOTS/mobile_aloha_sim-2.0.0/dualarm_piper/piper_mesh.yaml ADDED
@@ -0,0 +1,145 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # The robot description defines the generalized coordinates and how to map those
2
+ # to the underlying URDF dofs.
3
+
4
+ # api_version: 1.0
5
+
6
+ # # Defines the generalized coordinates. Each generalized coordinate is assumed
7
+ # # to have an entry in the URDF.
8
+ # # Lula will only use these joints to control the robot position.
9
+ # cspace:
10
+ # - fl_joint1
11
+ # - fl_joint2
12
+ # - fl_joint3
13
+ # - fl_joint4
14
+ # - fl_joint5
15
+ # - fl_joint6
16
+ # - fl_joint7
17
+ # - fl_joint8
18
+ # default_q: [
19
+ # -0.05,1.59,-2.697,0.0,-0.0004,0.0,0.04,-0.04
20
+ # ]
21
+
22
+ # acceleration_limits: [
23
+ # 10,10,10,10,10,10,10,10
24
+ # ]
25
+
26
+ # jerk_limits: [
27
+ # 10000,10000,10000,10000,10000,10000,10000,10000
28
+ # ]
29
+
30
+ # # Most dimensions of the cspace have a direct corresponding element
31
+ # # in the URDF. This list of rules defines how unspecified coordinates
32
+ # # should be extracted or how values in the URDF should be overwritten.
33
+
34
+ # cspace_to_urdf_rules:
35
+
36
+ # # Lula uses collision spheres to define the robot geometry in order to avoid
37
+ # # collisions with external obstacles. If no spheres are specified, Lula will
38
+ # # not be able to avoid obstacles.
39
+
40
+ collision_spheres:
41
+ left_base_link:
42
+ - "center": [-0.005, -0.0, 0.054]
43
+ "radius": 0.03455
44
+ left_link1:
45
+ - "center": [-0.015, -0.0, -0.006]
46
+ "radius": 0.02397
47
+ - "center": [0.013, 0.004, -0.005]
48
+ "radius": 0.02298
49
+ left_link2:
50
+ - "center": [0.274, 0.014, -0.002]
51
+ "radius": 0.04
52
+ - "center": [0.028, -0.0, 0.002]
53
+ "radius": 0.02
54
+ - "center": [0.241, -0.016, -0.001]
55
+ "radius": 0.02
56
+ - "center": [0.064, -0.003, 0.002]
57
+ "radius": 0.02
58
+ - "center": [0.099, -0.005, 0.001]
59
+ "radius": 0.02
60
+ - "center": [0.135, -0.008, 0.0]
61
+ "radius": 0.02
62
+ - "center": [0.17, -0.011, -0.0]
63
+ "radius": 0.02
64
+ - "center": [0.206, -0.013, -0.001]
65
+ "radius": 0.02
66
+ left_link3:
67
+ - "center": [-0.184, 0.056, 0.0]
68
+ "radius": 0.025
69
+ - "center": [-0.028, 0.017, 0.0]
70
+ "radius": 0.025
71
+ - "center": [-0.153, 0.048, 0.0]
72
+ "radius": 0.025
73
+ - "center": [-0.122, 0.04, 0.0]
74
+ "radius": 0.025
75
+ - "center": [-0.091, 0.032, 0.0]
76
+ "radius": 0.025
77
+ - "center": [-0.06, 0.025, 0.0]
78
+ "radius": 0.025
79
+ left_link4:
80
+ - "center": [-0.002, -0.003, -0.005]
81
+ "radius": 0.028
82
+ left_link5:
83
+ - "center": [0.001, 0.066, 0.002]
84
+ "radius": 0.025
85
+ - "center": [-0.0, 0.038, 0.001]
86
+ "radius": 0.025
87
+ left_link6:
88
+ - "center": [0.001, 0.003, 0.026]
89
+ "radius": 0.028
90
+ - "center": [-0.064, -0.0, 0.056]
91
+ "radius": 0.01
92
+ - "center": [0.065, 0.001, 0.055]
93
+ "radius": 0.01
94
+ - "center": [-0.042, -0.0, 0.056]
95
+ "radius": 0.01
96
+ - "center": [-0.021, -0.0, 0.056]
97
+ "radius": 0.01
98
+ - "center": [0.001, 0.0, 0.055]
99
+ "radius": 0.01
100
+ - "center": [0.022, 0.0, 0.055]
101
+ "radius": 0.01
102
+ - "center": [0.044, 0.0, 0.055]
103
+ "radius": 0.01
104
+ - "center": [-0.018, 0.018, 0.047]
105
+ "radius": 0.01
106
+ - "center": [0.014, 0.017, 0.047]
107
+ "radius": 0.01
108
+ - "center": [0.014, -0.015, 0.047]
109
+ "radius": 0.01
110
+ - "center": [-0.014, -0.014, 0.047]
111
+ "radius": 0.01
112
+ left_link7:
113
+ - "center": [0.001, -0.001, -0.005]
114
+ "radius": 0.004
115
+ - "center": [-0.014, -0.058, -0.013]
116
+ "radius": 0.011
117
+ - "center": [0.015, -0.057, -0.014]
118
+ "radius": 0.011
119
+ - "center": [-0.001, -0.051, -0.01]
120
+ "radius": 0.01
121
+ - "center": [0.0, -0.007, -0.005]
122
+ "radius": 0.0048
123
+ - "center": [0.0, -0.016, -0.006]
124
+ "radius": 0.00577
125
+ - "center": [-0.0, -0.025, -0.007]
126
+ "radius": 0.00693
127
+ - "center": [-0.001, -0.037, -0.009]
128
+ "radius": 0.00833
129
+ left_link8:
130
+ - "center": [-0.001, 0.059, -0.012]
131
+ "radius": 0.01
132
+ - "center": [0.0, -0.001, -0.004]
133
+ "radius": 0.004
134
+ - "center": [-0.001, 0.042, -0.01]
135
+ "radius": 0.00833
136
+ - "center": [-0.0, 0.028, -0.008]
137
+ "radius": 0.00693
138
+ - "center": [-0.0, 0.017, -0.006]
139
+ "radius": 0.00577
140
+ - "center": [0.0, 0.007, -0.005]
141
+ "radius": 0.0048
142
+ - "center": [-0.015, 0.057, -0.012]
143
+ "radius": 0.01
144
+ - "center": [0.016, 0.057, -0.012]
145
+ "radius": 0.01