Backfill missing files batch 3

ROBOTS/FR3/FR3_FRANKA/meshes/robot_ee/franka_hand_black/visual/finger.dae

@@ -0,0 +1,201 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- ================================================================================
+COLLADA Model File
+Copyright (C) 2024 Franka Robotics GmbH
+
+Licensed under the Apache License, Version 2.0 (the "License");
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+
+================================================================================
+
+NOTICE: This COLLADA model file is subject to the terms and conditions of the Apache License,
+Version 2.0, and has been made available under that License by Franka Robotics GmbH.
+This file, and the ideas, concepts, and techniques contained herein, are the property of
+Franka Robotics GmbH.
+
+The contents of this file are not endorsed by Apache Software Foundation, and are solely the
+responsibility of Franka Robotics GmbH and its contributors.
+
+================================================================================ -->
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+      <authoring_tool>Blender 2.79.0</authoring_tool>
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+    <created>2018-02-20T15:00:35</created>
+    <modified>2018-02-20T15:00:35</modified>
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ROBOTS/FR3/FR3_FRANKA/meshes/robot_ee/franka_hand_white/visual/finger.dae

@@ -0,0 +1,201 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- ================================================================================
+COLLADA Model File
+Copyright (C) 2024 Franka Robotics GmbH
+
+Licensed under the Apache License, Version 2.0 (the "License");
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+
+================================================================================
+
+NOTICE: This COLLADA model file is subject to the terms and conditions of the Apache License,
+Version 2.0, and has been made available under that License by Franka Robotics GmbH.
+This file, and the ideas, concepts, and techniques contained herein, are the property of
+Franka Robotics GmbH.
+
+The contents of this file are not endorsed by Apache Software Foundation, and are solely the
+responsibility of Franka Robotics GmbH and its contributors.
+
+================================================================================ -->
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+    </contributor>
+    <created>2018-02-20T15:00:35</created>
+    <modified>2018-02-20T15:00:35</modified>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="node0" name="node0" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Part__Feature_007-mesh" name="node0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Part__Feature_007-material" target="#Part__Feature_007-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="node1" name="node1" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Part__Feature001_006-mesh" name="node1">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Part__Feature001_006-material" target="#Part__Feature001_006-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

ROBOTS/FR3/fr3.urdf

@@ -0,0 +1,319 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<robot name="fr3">
+  <joint name="fr3_finger_joint1" type="prismatic">
+    <origin xyz="0. 0. 0.0584" rpy="0. 0. 1.5707964"/>
+    <parent link="fr3_hand"/>
+    <child link="fr3_leftfinger"/>
+    <axis xyz="1. 0. 0."/>
+    <limit lower="0." upper="0.04" effort="100." velocity="0.2"/>
+  </joint>
+  <joint name="fr3_finger_joint2" type="prismatic">
+    <origin xyz="0. 0. 0.0584" rpy="0. 0. -1.5707963"/>
+    <parent link="fr3_hand"/>
+    <child link="fr3_rightfinger"/>
+    <axis xyz="1. 0. 0."/>
+    <limit lower="0." upper="0.04" effort="10000000." velocity="0.2"/>
+  </joint>
+  <joint name="fr3_hand_joint" type="fixed">
+    <origin xyz="0. 0. 0." rpy="0. 0. -0.7853982"/>
+    <parent link="fr3_link8"/>
+    <child link="fr3_hand"/>
+  </joint>
+  <joint name="fr3_hand_tcp_joint" type="fixed">
+    <origin xyz="0. 0. 0.1034" rpy="0. 0. 0."/>
+    <parent link="fr3_hand"/>
+    <child link="fr3_hand_tcp"/>
+  </joint>
+  <joint name="fr3_joint1" type="revolute">
+    <origin xyz="0. 0. 0.333" rpy="0. -1.5707964 0. "/>
+    <parent link="fr3_link0"/>
+    <child link="fr3_link1"/>
+    <axis xyz="1. 0. 0."/>
+    <limit lower="-2.7436999" upper="2.7436999" effort="87." velocity="2.6199998"/>
+  </joint>
+  <joint name="fr3_joint2" type="revolute">
+    <origin xyz="0. 0. 0." rpy="0. 0. 1.5707964"/>
+    <parent link="fr3_link1"/>
+    <child link="fr3_link2"/>
+    <axis xyz="1. 0. 0."/>
+    <limit lower="-1.7836999" upper="1.7836999" effort="87." velocity="2.6199998"/>
+  </joint>
+  <joint name="fr3_joint3" type="revolute">
+    <origin xyz="0. -0.316 0. " rpy="0. 0. -1.5707963"/>
+    <parent link="fr3_link2"/>
+    <child link="fr3_link3"/>
+    <axis xyz="1. 0. 0."/>
+    <limit lower="-2.9006999" upper="2.9006999" effort="87." velocity="2.6199998"/>
+  </joint>
+  <joint name="fr3_joint4" type="revolute">
+    <origin xyz="-0. 0. -0.0825" rpy="0. 0. -1.5707964"/>
+    <parent link="fr3_link3"/>
+    <child link="fr3_link4"/>
+    <axis xyz="1. 0. 0."/>
+    <limit lower="-3.0420999" upper="-0.1518" effort="87." velocity="2.6199998"/>
+  </joint>
+  <joint name="fr3_joint5" type="revolute">
+    <origin xyz="0.0000001 0.384 0.0825 " rpy="0. 0. 1.5707961"/>
+    <parent link="fr3_link4"/>
+    <child link="fr3_link5"/>
+    <axis xyz="1. 0. 0."/>
+    <limit lower="-2.8064999" upper="2.8064999" effort="12." velocity="5.2600004"/>
+  </joint>
+  <joint name="fr3_joint6" type="revolute">
+    <origin xyz="0. 0. -0." rpy="0. 0. -1.5707961"/>
+    <parent link="fr3_link5"/>
+    <child link="fr3_link6"/>
+    <axis xyz="1. 0. 0."/>
+    <limit lower="0.5445" upper="4.5168996" effort="12." velocity="4.1799999"/>
+  </joint>
+  <joint name="fr3_joint7" type="revolute">
+    <origin xyz="0. 0. -0.088" rpy="0. 0. -1.5707965"/>
+    <parent link="fr3_link6"/>
+    <child link="fr3_link7"/>
+    <axis xyz="1. 0. 0."/>
+    <limit lower="-3.0158997" upper="3.0158997" effort="12." velocity="5.2600004"/>
+  </joint>
+  <joint name="fr3_joint8" type="fixed">
+    <origin xyz="0.107 0. 0. " rpy="-0.0000002 1.5707964 0. "/>
+    <parent link="fr3_link7"/>
+    <child link="fr3_link8"/>
+  </joint>
+  <joint name="root_joint" type="fixed">
+    <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
+    <parent link="fr3"/>
+    <child link="fr3_link0"/>
+  </joint>
+  <link name="fr3"/>
+  <link name="fr3_hand">
+    <inertial>
+      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
+      <mass value="0.73"/>
+      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
+    </inertial>
+    <visual>
+      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
+      <geometry>
+        <mesh filename="meshes/fr3_hand_visuals.obj" scale="1. 1. 1."/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
+      <geometry>
+        <mesh filename="meshes/fr3_hand_collisions.obj" scale="1. 1. 1."/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="fr3_hand_tcp"/>
+  <link name="fr3_leftfinger">
+    <visual>
+      <origin xyz="0. 0. -0." rpy="0. 0. -1.5707964"/>
+      <geometry>
+        <mesh filename="meshes/fr3_leftfinger_visuals.obj" scale="1. 1. 1."/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.0185 0. 0.011 " rpy="0. 0. -1.5707964"/>
+      <geometry>
+        <box size="0.022 0.015 0.02 "/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0068 0. 0.0022" rpy="0. 0. -1.5707964"/>
+      <geometry>
+        <box size="0.022 0.0088 0.0038"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0159 0. 0.02835" rpy="0.5235989 0. -1.5707964"/>
+      <geometry>
+        <box size="0.0175 0.007 0.0235"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00758 0. 0.04525" rpy="0. 0. -1.5707964"/>
+      <geometry>
+        <box size="0.0175 0.0152 0.0185"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="fr3_link0">
+    <visual>
+      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
+      <geometry>
+        <mesh filename="meshes/fr3_link0_visuals.obj" scale="1. 1. 1."/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
+      <geometry>
+        <mesh filename="meshes/fr3_link0_collisions.obj" scale="1. 1. 1."/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="fr3_link1">
+    <inertial>
+      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
+      <mass value="2.9274654"/>
+      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
+    </inertial>
+    <visual>
+      <origin xyz="0. 0. 0." rpy="0. 1.5707964 0. "/>
+      <geometry>
+        <mesh filename="meshes/fr3_link1_visuals.obj" scale="1. 1. 1."/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0. 0. 0." rpy="0. 1.5707964 0. "/>
+      <geometry>
+        <mesh filename="meshes/fr3_link1_collisions.obj" scale="1. 1. 1."/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="fr3_link2">
+    <inertial>
+      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
+      <mass value="2.9355371"/>
+      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
+    </inertial>
+    <visual>
+      <origin xyz="0. 0. 0." rpy="-0. 1.5707964 0. "/>
+      <geometry>
+        <mesh filename="meshes/fr3_link2_visuals.obj" scale="1. 1. 1."/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0. 0. 0." rpy="-0. 1.5707964 0. "/>
+      <geometry>
+        <mesh filename="meshes/fr3_link2_collisions.obj" scale="1. 1. 1."/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="fr3_link3">
+    <inertial>
+      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
+      <mass value="2.2449014"/>
+      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
+    </inertial>
+    <visual>
+      <origin xyz="-0. 0. 0." rpy="0. 1.5707964 0. "/>
+      <geometry>
+        <mesh filename="meshes/fr3_link3_visuals.obj" scale="1. 1. 1."/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="-0. 0. 0." rpy="0. 1.5707964 0. "/>
+      <geometry>
+        <mesh filename="meshes/fr3_link3_collisions.obj" scale="1. 1. 1."/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="fr3_link4">
+    <inertial>
+      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
+      <mass value="2.6155956"/>
+      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
+    </inertial>
+    <visual>
+      <origin xyz="0. 0. 0." rpy="0.0000002 1.5707964 0. "/>
+      <geometry>
+        <mesh filename="meshes/fr3_link4_visuals.obj" scale="1. 1. 1."/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0. 0. 0." rpy="0.0000002 1.5707964 0. "/>
+      <geometry>
+        <mesh filename="meshes/fr3_link4_collisions.obj" scale="1. 1. 1."/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="fr3_link5">
+    <inertial>
+      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
+      <mass value="2.3271208"/>
+      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
+    </inertial>
+    <visual>
+      <origin xyz="0. 0. -0." rpy="-0.0000002 1.5707964 0. "/>
+      <geometry>
+        <mesh filename="meshes/fr3_link5_visuals.obj" scale="1. 1. 1."/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0. 0. -0." rpy="-0.0000002 1.5707964 0. "/>
+      <geometry>
+        <mesh filename="meshes/fr3_link5_collisions.obj" scale="1. 1. 1."/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="fr3_link6">
+    <inertial>
+      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
+      <mass value="1.8170377"/>
+      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
+    </inertial>
+    <visual>
+      <origin xyz="0. 0. 0." rpy="0.0000002 1.5707964 0. "/>
+      <geometry>
+        <mesh filename="meshes/fr3_link6_visuals.obj" scale="1. 1. 1."/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0. 0. 0." rpy="0.0000002 1.5707964 0. "/>
+      <geometry>
+        <mesh filename="meshes/fr3_link6_collisions.obj" scale="1. 1. 1."/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="fr3_link7">
+    <inertial>
+      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
+      <mass value="0.6271433"/>
+      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
+    </inertial>
+    <visual>
+      <origin xyz="0. 0. 0." rpy="-0.0000002 1.5707964 0. "/>
+      <geometry>
+        <mesh filename="meshes/fr3_link7_visuals.obj" scale="1. 1. 1."/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0. 0. 0." rpy="-0.0000002 1.5707964 0. "/>
+      <geometry>
+        <mesh filename="meshes/fr3_link7_collisions.obj" scale="1. 1. 1."/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="fr3_link8"/>
+  <link name="fr3_rightfinger">
+    <visual>
+      <origin xyz="0. 0. -0." rpy="0. 0. -1.5707963"/>
+      <geometry>
+        <mesh filename="meshes/fr3_rightfinger_visuals.obj" scale="1. 1. 1."/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.0185 0. 0.011 " rpy="0. 0. 1.5707964"/>
+      <geometry>
+        <box size="0.022 0.015 0.02 "/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0068 0. 0.0022" rpy="0. 0. 1.5707964"/>
+      <geometry>
+        <box size="0.022 0.0088 0.0038"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0159 0. 0.02835" rpy="-0.5235989 0. 1.5707964"/>
+      <geometry>
+        <box size="0.0175 0.007 0.0235"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00758 0. 0.04525" rpy="0. 0. 1.5707964"/>
+      <geometry>
+        <box size="0.0175 0.0152 0.0185"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>

ROBOTS/FR3/meshes/fr3_hand_collisions.obj

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