Commit ·
4d9fefd
0
Parent(s):
Initial commit
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +336 -0
- README.md +159 -0
- data/bimanual/bimanual_foxglove_layout.json +391 -0
- data/bimanual/urdf/dual_xarm6.urdf +1273 -0
- data/bimanual/urdf/dual_xarm7.urdf +1349 -0
- data/bimanual/urdf/meshes/end_tool/collision/end_tool.stl +0 -0
- data/bimanual/urdf/meshes/gripper/xarm/base_link.stl +3 -0
- data/bimanual/urdf/meshes/gripper/xarm/left_finger.stl +3 -0
- data/bimanual/urdf/meshes/gripper/xarm/left_inner_knuckle.stl +3 -0
- data/bimanual/urdf/meshes/gripper/xarm/left_outer_knuckle.stl +0 -0
- data/bimanual/urdf/meshes/gripper/xarm/right_finger.stl +3 -0
- data/bimanual/urdf/meshes/gripper/xarm/right_inner_knuckle.stl +3 -0
- data/bimanual/urdf/meshes/gripper/xarm/right_outer_knuckle.stl +0 -0
- data/bimanual/urdf/meshes/xarm6/visual/link1.stl +3 -0
- data/bimanual/urdf/meshes/xarm6/visual/link2.stl +3 -0
- data/bimanual/urdf/meshes/xarm6/visual/link3.stl +3 -0
- data/bimanual/urdf/meshes/xarm6/visual/link4.stl +3 -0
- data/bimanual/urdf/meshes/xarm6/visual/link5.stl +3 -0
- data/bimanual/urdf/meshes/xarm6/visual/link6.stl +3 -0
- data/bimanual/urdf/meshes/xarm6/visual/link_base.stl +3 -0
- data/bimanual/urdf/meshes/xarm7/visual/link1.stl +3 -0
- data/bimanual/urdf/meshes/xarm7/visual/link2.stl +3 -0
- data/bimanual/urdf/meshes/xarm7/visual/link3.stl +3 -0
- data/bimanual/urdf/meshes/xarm7/visual/link4.stl +3 -0
- data/bimanual/urdf/meshes/xarm7/visual/link5.stl +3 -0
- data/bimanual/urdf/meshes/xarm7/visual/link6.stl +3 -0
- data/bimanual/urdf/meshes/xarm7/visual/link7.stl +3 -0
- data/bimanual/urdf/meshes/xarm7/visual/link_base.stl +3 -0
- data/bimanual/urdf/meshes/zed2i.stl +3 -0
- data/bimanual/urdf/meshes/zed_camera_mount_xarm.stl +3 -0
- data/bimanual/xarm6/fold_tshirt/recording_0001.mcap +3 -0
- data/bimanual/xarm6/fold_tshirt/recording_0002.mcap +3 -0
- data/bimanual/xarm6/fold_tshirt/recording_0003.mcap +3 -0
- data/bimanual/xarm6/fold_tshirt/recording_0004.mcap +3 -0
- data/bimanual/xarm6/fold_tshirt/recording_0005.mcap +3 -0
- data/bimanual/xarm6/fold_tshirt/recording_0006.mcap +3 -0
- data/bimanual/xarm6/fold_tshirt/recording_0007.mcap +3 -0
- data/bimanual/xarm6/fold_tshirt/recording_0008.mcap +3 -0
- data/bimanual/xarm6/fold_tshirt/recording_0009.mcap +3 -0
- data/bimanual/xarm6/fold_tshirt/recording_0010.mcap +3 -0
- data/bimanual/xarm6/fold_tshirt/recording_0011.mcap +3 -0
- data/bimanual/xarm6/fold_tshirt/recording_0012.mcap +3 -0
- data/bimanual/xarm6/fold_tshirt/recording_0013.mcap +3 -0
- data/bimanual/xarm6/place_clothing_into_basket/recording_0001.mcap +3 -0
- data/bimanual/xarm6/place_clothing_into_basket/recording_0002.mcap +3 -0
- data/bimanual/xarm6/place_clothing_into_basket/recording_0003.mcap +3 -0
- data/bimanual/xarm6/place_clothing_into_basket/recording_0004.mcap +3 -0
- data/bimanual/xarm6/place_clothing_into_basket/recording_0005.mcap +3 -0
- data/bimanual/xarm6/place_clothing_into_basket/recording_0006.mcap +3 -0
- data/bimanual/xarm6/place_clothing_into_basket/recording_0007.mcap +3 -0
.gitattributes
ADDED
|
@@ -0,0 +1,336 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
*.7z filter=lfs diff=lfs merge=lfs -text
|
| 2 |
+
*.arrow filter=lfs diff=lfs merge=lfs -text
|
| 3 |
+
*.avro filter=lfs diff=lfs merge=lfs -text
|
| 4 |
+
*.bin filter=lfs diff=lfs merge=lfs -text
|
| 5 |
+
*.bz2 filter=lfs diff=lfs merge=lfs -text
|
| 6 |
+
*.ckpt filter=lfs diff=lfs merge=lfs -text
|
| 7 |
+
*.ftz filter=lfs diff=lfs merge=lfs -text
|
| 8 |
+
*.gz filter=lfs diff=lfs merge=lfs -text
|
| 9 |
+
*.h5 filter=lfs diff=lfs merge=lfs -text
|
| 10 |
+
*.joblib filter=lfs diff=lfs merge=lfs -text
|
| 11 |
+
*.lfs.* filter=lfs diff=lfs merge=lfs -text
|
| 12 |
+
*.lz4 filter=lfs diff=lfs merge=lfs -text
|
| 13 |
+
*.mds filter=lfs diff=lfs merge=lfs -text
|
| 14 |
+
*.mlmodel filter=lfs diff=lfs merge=lfs -text
|
| 15 |
+
*.model filter=lfs diff=lfs merge=lfs -text
|
| 16 |
+
*.msgpack filter=lfs diff=lfs merge=lfs -text
|
| 17 |
+
*.npy filter=lfs diff=lfs merge=lfs -text
|
| 18 |
+
*.npz filter=lfs diff=lfs merge=lfs -text
|
| 19 |
+
*.onnx filter=lfs diff=lfs merge=lfs -text
|
| 20 |
+
*.ot filter=lfs diff=lfs merge=lfs -text
|
| 21 |
+
*.parquet filter=lfs diff=lfs merge=lfs -text
|
| 22 |
+
*.pb filter=lfs diff=lfs merge=lfs -text
|
| 23 |
+
*.pickle filter=lfs diff=lfs merge=lfs -text
|
| 24 |
+
*.pkl filter=lfs diff=lfs merge=lfs -text
|
| 25 |
+
*.pt filter=lfs diff=lfs merge=lfs -text
|
| 26 |
+
*.pth filter=lfs diff=lfs merge=lfs -text
|
| 27 |
+
*.rar filter=lfs diff=lfs merge=lfs -text
|
| 28 |
+
*.safetensors filter=lfs diff=lfs merge=lfs -text
|
| 29 |
+
saved_model/**/* filter=lfs diff=lfs merge=lfs -text
|
| 30 |
+
*.tar.* filter=lfs diff=lfs merge=lfs -text
|
| 31 |
+
*.tar filter=lfs diff=lfs merge=lfs -text
|
| 32 |
+
*.tflite filter=lfs diff=lfs merge=lfs -text
|
| 33 |
+
*.tgz filter=lfs diff=lfs merge=lfs -text
|
| 34 |
+
*.wasm filter=lfs diff=lfs merge=lfs -text
|
| 35 |
+
*.xz filter=lfs diff=lfs merge=lfs -text
|
| 36 |
+
*.zip filter=lfs diff=lfs merge=lfs -text
|
| 37 |
+
*.zst filter=lfs diff=lfs merge=lfs -text
|
| 38 |
+
*tfevents* filter=lfs diff=lfs merge=lfs -text
|
| 39 |
+
# Audio files - uncompressed
|
| 40 |
+
*.pcm filter=lfs diff=lfs merge=lfs -text
|
| 41 |
+
*.sam filter=lfs diff=lfs merge=lfs -text
|
| 42 |
+
*.raw filter=lfs diff=lfs merge=lfs -text
|
| 43 |
+
# Audio files - compressed
|
| 44 |
+
*.aac filter=lfs diff=lfs merge=lfs -text
|
| 45 |
+
*.flac filter=lfs diff=lfs merge=lfs -text
|
| 46 |
+
*.mp3 filter=lfs diff=lfs merge=lfs -text
|
| 47 |
+
*.ogg filter=lfs diff=lfs merge=lfs -text
|
| 48 |
+
*.wav filter=lfs diff=lfs merge=lfs -text
|
| 49 |
+
# Image files - uncompressed
|
| 50 |
+
*.bmp filter=lfs diff=lfs merge=lfs -text
|
| 51 |
+
*.gif filter=lfs diff=lfs merge=lfs -text
|
| 52 |
+
*.png filter=lfs diff=lfs merge=lfs -text
|
| 53 |
+
*.tiff filter=lfs diff=lfs merge=lfs -text
|
| 54 |
+
# Image files - compressed
|
| 55 |
+
*.jpg filter=lfs diff=lfs merge=lfs -text
|
| 56 |
+
*.jpeg filter=lfs diff=lfs merge=lfs -text
|
| 57 |
+
*.webp filter=lfs diff=lfs merge=lfs -text
|
| 58 |
+
# Video files - compressed
|
| 59 |
+
*.mp4 filter=lfs diff=lfs merge=lfs -text
|
| 60 |
+
*.webm filter=lfs diff=lfs merge=lfs -text
|
| 61 |
+
data/bimanual/xarm6/fold_tshirt/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 62 |
+
data/bimanual/xarm6/fold_tshirt/recording_0002.mcap filter=lfs diff=lfs merge=lfs -text
|
| 63 |
+
data/bimanual/xarm6/fold_tshirt/recording_0003.mcap filter=lfs diff=lfs merge=lfs -text
|
| 64 |
+
data/bimanual/xarm6/fold_tshirt/recording_0004.mcap filter=lfs diff=lfs merge=lfs -text
|
| 65 |
+
data/bimanual/xarm6/fold_tshirt/recording_0005.mcap filter=lfs diff=lfs merge=lfs -text
|
| 66 |
+
data/bimanual/xarm6/fold_tshirt/recording_0006.mcap filter=lfs diff=lfs merge=lfs -text
|
| 67 |
+
data/bimanual/xarm6/fold_tshirt/recording_0007.mcap filter=lfs diff=lfs merge=lfs -text
|
| 68 |
+
data/bimanual/xarm6/fold_tshirt/recording_0008.mcap filter=lfs diff=lfs merge=lfs -text
|
| 69 |
+
data/bimanual/xarm6/fold_tshirt/recording_0009.mcap filter=lfs diff=lfs merge=lfs -text
|
| 70 |
+
data/bimanual/xarm6/fold_tshirt/recording_0010.mcap filter=lfs diff=lfs merge=lfs -text
|
| 71 |
+
data/bimanual/xarm6/fold_tshirt/recording_0011.mcap filter=lfs diff=lfs merge=lfs -text
|
| 72 |
+
data/bimanual/xarm6/fold_tshirt/recording_0012.mcap filter=lfs diff=lfs merge=lfs -text
|
| 73 |
+
data/bimanual/xarm6/fold_tshirt/recording_0013.mcap filter=lfs diff=lfs merge=lfs -text
|
| 74 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 75 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0002.mcap filter=lfs diff=lfs merge=lfs -text
|
| 76 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0003.mcap filter=lfs diff=lfs merge=lfs -text
|
| 77 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0004.mcap filter=lfs diff=lfs merge=lfs -text
|
| 78 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0005.mcap filter=lfs diff=lfs merge=lfs -text
|
| 79 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0006.mcap filter=lfs diff=lfs merge=lfs -text
|
| 80 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0007.mcap filter=lfs diff=lfs merge=lfs -text
|
| 81 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0008.mcap filter=lfs diff=lfs merge=lfs -text
|
| 82 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0009.mcap filter=lfs diff=lfs merge=lfs -text
|
| 83 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0010.mcap filter=lfs diff=lfs merge=lfs -text
|
| 84 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0011.mcap filter=lfs diff=lfs merge=lfs -text
|
| 85 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0012.mcap filter=lfs diff=lfs merge=lfs -text
|
| 86 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0013.mcap filter=lfs diff=lfs merge=lfs -text
|
| 87 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0014.mcap filter=lfs diff=lfs merge=lfs -text
|
| 88 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0015.mcap filter=lfs diff=lfs merge=lfs -text
|
| 89 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0016.mcap filter=lfs diff=lfs merge=lfs -text
|
| 90 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0017.mcap filter=lfs diff=lfs merge=lfs -text
|
| 91 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0018.mcap filter=lfs diff=lfs merge=lfs -text
|
| 92 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0019.mcap filter=lfs diff=lfs merge=lfs -text
|
| 93 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0020.mcap filter=lfs diff=lfs merge=lfs -text
|
| 94 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0021.mcap filter=lfs diff=lfs merge=lfs -text
|
| 95 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0022.mcap filter=lfs diff=lfs merge=lfs -text
|
| 96 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0023.mcap filter=lfs diff=lfs merge=lfs -text
|
| 97 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0024.mcap filter=lfs diff=lfs merge=lfs -text
|
| 98 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0025.mcap filter=lfs diff=lfs merge=lfs -text
|
| 99 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0026.mcap filter=lfs diff=lfs merge=lfs -text
|
| 100 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0027.mcap filter=lfs diff=lfs merge=lfs -text
|
| 101 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0028.mcap filter=lfs diff=lfs merge=lfs -text
|
| 102 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0029.mcap filter=lfs diff=lfs merge=lfs -text
|
| 103 |
+
data/bimanual/xarm7/remove_lunch_box_from_backpack/recording_0030.mcap filter=lfs diff=lfs merge=lfs -text
|
| 104 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 105 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0002.mcap filter=lfs diff=lfs merge=lfs -text
|
| 106 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0003.mcap filter=lfs diff=lfs merge=lfs -text
|
| 107 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0004.mcap filter=lfs diff=lfs merge=lfs -text
|
| 108 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0005.mcap filter=lfs diff=lfs merge=lfs -text
|
| 109 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0006.mcap filter=lfs diff=lfs merge=lfs -text
|
| 110 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0007.mcap filter=lfs diff=lfs merge=lfs -text
|
| 111 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0008.mcap filter=lfs diff=lfs merge=lfs -text
|
| 112 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0009.mcap filter=lfs diff=lfs merge=lfs -text
|
| 113 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0010.mcap filter=lfs diff=lfs merge=lfs -text
|
| 114 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0011.mcap filter=lfs diff=lfs merge=lfs -text
|
| 115 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0012.mcap filter=lfs diff=lfs merge=lfs -text
|
| 116 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0013.mcap filter=lfs diff=lfs merge=lfs -text
|
| 117 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0014.mcap filter=lfs diff=lfs merge=lfs -text
|
| 118 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0015.mcap filter=lfs diff=lfs merge=lfs -text
|
| 119 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0016.mcap filter=lfs diff=lfs merge=lfs -text
|
| 120 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0017.mcap filter=lfs diff=lfs merge=lfs -text
|
| 121 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0018.mcap filter=lfs diff=lfs merge=lfs -text
|
| 122 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0019.mcap filter=lfs diff=lfs merge=lfs -text
|
| 123 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0020.mcap filter=lfs diff=lfs merge=lfs -text
|
| 124 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0021.mcap filter=lfs diff=lfs merge=lfs -text
|
| 125 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0022.mcap filter=lfs diff=lfs merge=lfs -text
|
| 126 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0023.mcap filter=lfs diff=lfs merge=lfs -text
|
| 127 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0024.mcap filter=lfs diff=lfs merge=lfs -text
|
| 128 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0025.mcap filter=lfs diff=lfs merge=lfs -text
|
| 129 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0026.mcap filter=lfs diff=lfs merge=lfs -text
|
| 130 |
+
data/bimanual/xarm6/place_clothing_into_basket/recording_0027.mcap filter=lfs diff=lfs merge=lfs -text
|
| 131 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 132 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0002.mcap filter=lfs diff=lfs merge=lfs -text
|
| 133 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0003.mcap filter=lfs diff=lfs merge=lfs -text
|
| 134 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0004.mcap filter=lfs diff=lfs merge=lfs -text
|
| 135 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0005.mcap filter=lfs diff=lfs merge=lfs -text
|
| 136 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0006.mcap filter=lfs diff=lfs merge=lfs -text
|
| 137 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0007.mcap filter=lfs diff=lfs merge=lfs -text
|
| 138 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0008.mcap filter=lfs diff=lfs merge=lfs -text
|
| 139 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0009.mcap filter=lfs diff=lfs merge=lfs -text
|
| 140 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0010.mcap filter=lfs diff=lfs merge=lfs -text
|
| 141 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0011.mcap filter=lfs diff=lfs merge=lfs -text
|
| 142 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0012.mcap filter=lfs diff=lfs merge=lfs -text
|
| 143 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0013.mcap filter=lfs diff=lfs merge=lfs -text
|
| 144 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0014.mcap filter=lfs diff=lfs merge=lfs -text
|
| 145 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0015.mcap filter=lfs diff=lfs merge=lfs -text
|
| 146 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0016.mcap filter=lfs diff=lfs merge=lfs -text
|
| 147 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0017.mcap filter=lfs diff=lfs merge=lfs -text
|
| 148 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0018.mcap filter=lfs diff=lfs merge=lfs -text
|
| 149 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0019.mcap filter=lfs diff=lfs merge=lfs -text
|
| 150 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0020.mcap filter=lfs diff=lfs merge=lfs -text
|
| 151 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0021.mcap filter=lfs diff=lfs merge=lfs -text
|
| 152 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0022.mcap filter=lfs diff=lfs merge=lfs -text
|
| 153 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0023.mcap filter=lfs diff=lfs merge=lfs -text
|
| 154 |
+
data/bimanual/xarm6/scrub_plate_with_sponge/recording_0024.mcap filter=lfs diff=lfs merge=lfs -text
|
| 155 |
+
data/bimanual/xarm7/place_objects_into_drawer/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 156 |
+
data/bimanual/xarm7/place_objects_into_drawer/recording_0002.mcap filter=lfs diff=lfs merge=lfs -text
|
| 157 |
+
data/bimanual/xarm7/place_objects_into_drawer/recording_0003.mcap filter=lfs diff=lfs merge=lfs -text
|
| 158 |
+
data/bimanual/xarm7/place_objects_into_drawer/recording_0004.mcap filter=lfs diff=lfs merge=lfs -text
|
| 159 |
+
data/bimanual/xarm7/place_objects_into_drawer/recording_0005.mcap filter=lfs diff=lfs merge=lfs -text
|
| 160 |
+
data/bimanual/xarm7/place_objects_into_drawer/recording_0006.mcap filter=lfs diff=lfs merge=lfs -text
|
| 161 |
+
data/bimanual/xarm7/place_objects_into_drawer/recording_0007.mcap filter=lfs diff=lfs merge=lfs -text
|
| 162 |
+
data/bimanual/xarm7/separate_condiments_baby_food_and_spices/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 163 |
+
data/bimanual/xarm7/separate_condiments_baby_food_and_spices/recording_0002.mcap filter=lfs diff=lfs merge=lfs -text
|
| 164 |
+
data/bimanual/xarm7/separate_condiments_baby_food_and_spices/recording_0003.mcap filter=lfs diff=lfs merge=lfs -text
|
| 165 |
+
data/bimanual/xarm7/separate_condiments_baby_food_and_spices/recording_0004.mcap filter=lfs diff=lfs merge=lfs -text
|
| 166 |
+
data/bimanual/xarm7/separate_condiments_baby_food_and_spices/recording_0005.mcap filter=lfs diff=lfs merge=lfs -text
|
| 167 |
+
data/bimanual/xarm7/separate_condiments_baby_food_and_spices/recording_0006.mcap filter=lfs diff=lfs merge=lfs -text
|
| 168 |
+
data/bimanual/xarm7/separate_condiments_baby_food_and_spices/recording_0007.mcap filter=lfs diff=lfs merge=lfs -text
|
| 169 |
+
data/bimanual/xarm7/separate_condiments_baby_food_and_spices/recording_0008.mcap filter=lfs diff=lfs merge=lfs -text
|
| 170 |
+
data/bimanual/xarm7/separate_condiments_baby_food_and_spices/recording_0009.mcap filter=lfs diff=lfs merge=lfs -text
|
| 171 |
+
data/bimanual/xarm7/separate_condiments_baby_food_and_spices/recording_0010.mcap filter=lfs diff=lfs merge=lfs -text
|
| 172 |
+
data/bimanual/xarm7/separate_condiments_baby_food_and_spices/recording_0011.mcap filter=lfs diff=lfs merge=lfs -text
|
| 173 |
+
data/bimanual/xarm7/separate_condiments_baby_food_and_spices/recording_0012.mcap filter=lfs diff=lfs merge=lfs -text
|
| 174 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 175 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0002.mcap filter=lfs diff=lfs merge=lfs -text
|
| 176 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0003.mcap filter=lfs diff=lfs merge=lfs -text
|
| 177 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0004.mcap filter=lfs diff=lfs merge=lfs -text
|
| 178 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0005.mcap filter=lfs diff=lfs merge=lfs -text
|
| 179 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0006.mcap filter=lfs diff=lfs merge=lfs -text
|
| 180 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0007.mcap filter=lfs diff=lfs merge=lfs -text
|
| 181 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0008.mcap filter=lfs diff=lfs merge=lfs -text
|
| 182 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0009.mcap filter=lfs diff=lfs merge=lfs -text
|
| 183 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0010.mcap filter=lfs diff=lfs merge=lfs -text
|
| 184 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0011.mcap filter=lfs diff=lfs merge=lfs -text
|
| 185 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0012.mcap filter=lfs diff=lfs merge=lfs -text
|
| 186 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0013.mcap filter=lfs diff=lfs merge=lfs -text
|
| 187 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0014.mcap filter=lfs diff=lfs merge=lfs -text
|
| 188 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0015.mcap filter=lfs diff=lfs merge=lfs -text
|
| 189 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0016.mcap filter=lfs diff=lfs merge=lfs -text
|
| 190 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0017.mcap filter=lfs diff=lfs merge=lfs -text
|
| 191 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0018.mcap filter=lfs diff=lfs merge=lfs -text
|
| 192 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0019.mcap filter=lfs diff=lfs merge=lfs -text
|
| 193 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0020.mcap filter=lfs diff=lfs merge=lfs -text
|
| 194 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0021.mcap filter=lfs diff=lfs merge=lfs -text
|
| 195 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0022.mcap filter=lfs diff=lfs merge=lfs -text
|
| 196 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0023.mcap filter=lfs diff=lfs merge=lfs -text
|
| 197 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0024.mcap filter=lfs diff=lfs merge=lfs -text
|
| 198 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0025.mcap filter=lfs diff=lfs merge=lfs -text
|
| 199 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0026.mcap filter=lfs diff=lfs merge=lfs -text
|
| 200 |
+
data/bimanual/xarm7/set_up_dinner_table/recording_0027.mcap filter=lfs diff=lfs merge=lfs -text
|
| 201 |
+
data/bimanual/xarm6/place_pot_on_stove_and_add_food_to_pot/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 202 |
+
data/bimanual/xarm6/place_pot_on_stove_and_add_food_to_pot/recording_0002.mcap filter=lfs diff=lfs merge=lfs -text
|
| 203 |
+
data/bimanual/xarm6/put_trash_into_trash_bin/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 204 |
+
data/bimanual/xarm6/put_trash_into_trash_bin/recording_0002.mcap filter=lfs diff=lfs merge=lfs -text
|
| 205 |
+
data/bimanual/xarm6/remove_hangers_from_rack/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 206 |
+
data/bimanual/xarm6/remove_hangers_from_rack/recording_0002.mcap filter=lfs diff=lfs merge=lfs -text
|
| 207 |
+
data/bimanual/xarm6/remove_hats_and_dirty_laundry/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 208 |
+
data/bimanual/xarm6/remove_hats_and_dirty_laundry/recording_0002.mcap filter=lfs diff=lfs merge=lfs -text
|
| 209 |
+
data/bimanual/xarm6/remove_towel_from_drawer/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 210 |
+
data/bimanual/xarm6/remove_towel_from_drawer/recording_0002.mcap filter=lfs diff=lfs merge=lfs -text
|
| 211 |
+
data/bimanual/xarm6/watering_house_plant/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 212 |
+
data/bimanual/xarm6/watering_house_plant/recording_0002.mcap filter=lfs diff=lfs merge=lfs -text
|
| 213 |
+
data/bimanual/xarm7/place_batteries_into_container/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 214 |
+
data/bimanual/xarm7/place_batteries_into_container/recording_0002.mcap filter=lfs diff=lfs merge=lfs -text
|
| 215 |
+
data/bimanual/xarm7/place_toothbrushes_into_holder/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 216 |
+
data/bimanual/xarm7/place_toothbrushes_into_holder/recording_0002.mcap filter=lfs diff=lfs merge=lfs -text
|
| 217 |
+
data/bimanual/urdf/meshes/gripper/xarm/base_link.stl filter=lfs diff=lfs merge=lfs -text
|
| 218 |
+
data/bimanual/urdf/meshes/gripper/xarm/left_finger.stl filter=lfs diff=lfs merge=lfs -text
|
| 219 |
+
data/bimanual/urdf/meshes/gripper/xarm/left_inner_knuckle.stl filter=lfs diff=lfs merge=lfs -text
|
| 220 |
+
data/bimanual/urdf/meshes/gripper/xarm/right_finger.stl filter=lfs diff=lfs merge=lfs -text
|
| 221 |
+
data/bimanual/urdf/meshes/gripper/xarm/right_inner_knuckle.stl filter=lfs diff=lfs merge=lfs -text
|
| 222 |
+
data/bimanual/urdf/meshes/xarm6/visual/link1.stl filter=lfs diff=lfs merge=lfs -text
|
| 223 |
+
data/bimanual/urdf/meshes/xarm6/visual/link2.stl filter=lfs diff=lfs merge=lfs -text
|
| 224 |
+
data/bimanual/urdf/meshes/xarm6/visual/link3.stl filter=lfs diff=lfs merge=lfs -text
|
| 225 |
+
data/bimanual/urdf/meshes/xarm6/visual/link4.stl filter=lfs diff=lfs merge=lfs -text
|
| 226 |
+
data/bimanual/urdf/meshes/xarm6/visual/link5.stl filter=lfs diff=lfs merge=lfs -text
|
| 227 |
+
data/bimanual/urdf/meshes/xarm6/visual/link6.stl filter=lfs diff=lfs merge=lfs -text
|
| 228 |
+
data/bimanual/urdf/meshes/xarm6/visual/link_base.stl filter=lfs diff=lfs merge=lfs -text
|
| 229 |
+
data/bimanual/urdf/meshes/xarm7/visual/link1.stl filter=lfs diff=lfs merge=lfs -text
|
| 230 |
+
data/bimanual/urdf/meshes/xarm7/visual/link2.stl filter=lfs diff=lfs merge=lfs -text
|
| 231 |
+
data/bimanual/urdf/meshes/xarm7/visual/link3.stl filter=lfs diff=lfs merge=lfs -text
|
| 232 |
+
data/bimanual/urdf/meshes/xarm7/visual/link4.stl filter=lfs diff=lfs merge=lfs -text
|
| 233 |
+
data/bimanual/urdf/meshes/xarm7/visual/link5.stl filter=lfs diff=lfs merge=lfs -text
|
| 234 |
+
data/bimanual/urdf/meshes/xarm7/visual/link6.stl filter=lfs diff=lfs merge=lfs -text
|
| 235 |
+
data/bimanual/urdf/meshes/xarm7/visual/link7.stl filter=lfs diff=lfs merge=lfs -text
|
| 236 |
+
data/bimanual/urdf/meshes/xarm7/visual/link_base.stl filter=lfs diff=lfs merge=lfs -text
|
| 237 |
+
data/bimanual/urdf/meshes/zed2i.stl filter=lfs diff=lfs merge=lfs -text
|
| 238 |
+
data/bimanual/urdf/meshes/zed_camera_mount_xarm.stl filter=lfs diff=lfs merge=lfs -text
|
| 239 |
+
data/stereo/health_hygiene_other/clean_glasses/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 240 |
+
data/stereo/health_hygiene_other/clean_glasses/recording_0002.mcap filter=lfs diff=lfs merge=lfs -text
|
| 241 |
+
data/stereo/health_hygiene_other/clean_glasses/recording_0003.mcap filter=lfs diff=lfs merge=lfs -text
|
| 242 |
+
data/stereo/health_hygiene_other/clean_glasses/recording_0004.mcap filter=lfs diff=lfs merge=lfs -text
|
| 243 |
+
data/stereo/health_hygiene_other/clean_glasses/recording_0005.mcap filter=lfs diff=lfs merge=lfs -text
|
| 244 |
+
data/stereo/health_hygiene_other/clean_glasses/recording_0006.mcap filter=lfs diff=lfs merge=lfs -text
|
| 245 |
+
data/stereo/health_hygiene_other/clean_glasses/recording_0007.mcap filter=lfs diff=lfs merge=lfs -text
|
| 246 |
+
data/stereo/health_hygiene_other/clean_glasses/recording_0008.mcap filter=lfs diff=lfs merge=lfs -text
|
| 247 |
+
data/stereo/health_hygiene_other/clean_glasses/recording_0009.mcap filter=lfs diff=lfs merge=lfs -text
|
| 248 |
+
data/stereo/health_hygiene_other/clean_glasses/recording_0010.mcap filter=lfs diff=lfs merge=lfs -text
|
| 249 |
+
data/stereo/health_hygiene_other/clean_glasses/recording_0011.mcap filter=lfs diff=lfs merge=lfs -text
|
| 250 |
+
data/stereo/health_hygiene_other/clean_glasses/recording_0012.mcap filter=lfs diff=lfs merge=lfs -text
|
| 251 |
+
data/stereo/health_hygiene_other/clean_glasses/recording_0013.mcap filter=lfs diff=lfs merge=lfs -text
|
| 252 |
+
data/stereo/health_hygiene_other/clean_glasses/recording_0014.mcap filter=lfs diff=lfs merge=lfs -text
|
| 253 |
+
data/stereo/health_hygiene_other/clean_glasses/recording_0015.mcap filter=lfs diff=lfs merge=lfs -text
|
| 254 |
+
data/stereo/health_hygiene_other/clean_glasses/recording_0016.mcap filter=lfs diff=lfs merge=lfs -text
|
| 255 |
+
data/stereo/general_hand_object_manipulation/use_clips_to_hang_the_photo/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 256 |
+
data/stereo/general_hand_object_manipulation/use_clips_to_hang_the_photo/recording_0002.mcap filter=lfs diff=lfs merge=lfs -text
|
| 257 |
+
data/stereo/general_hand_object_manipulation/use_clips_to_hang_the_photo/recording_0003.mcap filter=lfs diff=lfs merge=lfs -text
|
| 258 |
+
data/stereo/general_hand_object_manipulation/use_clips_to_hang_the_photo/recording_0004.mcap filter=lfs diff=lfs merge=lfs -text
|
| 259 |
+
data/stereo/general_hand_object_manipulation/use_clips_to_hang_the_photo/recording_0005.mcap filter=lfs diff=lfs merge=lfs -text
|
| 260 |
+
data/stereo/general_hand_object_manipulation/use_clips_to_hang_the_photo/recording_0006.mcap filter=lfs diff=lfs merge=lfs -text
|
| 261 |
+
data/stereo/general_hand_object_manipulation/use_clips_to_hang_the_photo/recording_0007.mcap filter=lfs diff=lfs merge=lfs -text
|
| 262 |
+
data/stereo/general_hand_object_manipulation/use_clips_to_hang_the_photo/recording_0008.mcap filter=lfs diff=lfs merge=lfs -text
|
| 263 |
+
data/stereo/general_hand_object_manipulation/use_clips_to_hang_the_photo/recording_0009.mcap filter=lfs diff=lfs merge=lfs -text
|
| 264 |
+
data/stereo/general_hand_object_manipulation/use_clips_to_hang_the_photo/recording_0010.mcap filter=lfs diff=lfs merge=lfs -text
|
| 265 |
+
data/stereo/general_hand_object_manipulation/use_clips_to_hang_the_photo/recording_0011.mcap filter=lfs diff=lfs merge=lfs -text
|
| 266 |
+
data/stereo/general_hand_object_manipulation/use_clips_to_hang_the_photo/recording_0012.mcap filter=lfs diff=lfs merge=lfs -text
|
| 267 |
+
data/stereo/general_hand_object_manipulation/use_clips_to_hang_the_photo/recording_0013.mcap filter=lfs diff=lfs merge=lfs -text
|
| 268 |
+
data/stereo/general_hand_object_manipulation/use_clips_to_hang_the_photo/recording_0014.mcap filter=lfs diff=lfs merge=lfs -text
|
| 269 |
+
data/stereo/general_hand_object_manipulation/use_clips_to_hang_the_photo/recording_0015.mcap filter=lfs diff=lfs merge=lfs -text
|
| 270 |
+
data/stereo/general_hand_object_manipulation/use_clips_to_hang_the_photo/recording_0016.mcap filter=lfs diff=lfs merge=lfs -text
|
| 271 |
+
data/stereo/item_placement/place_knife_on_hanging_shelf/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 272 |
+
data/stereo/item_placement/place_knife_on_hanging_shelf/recording_0002.mcap filter=lfs diff=lfs merge=lfs -text
|
| 273 |
+
data/stereo/item_placement/place_knife_on_hanging_shelf/recording_0003.mcap filter=lfs diff=lfs merge=lfs -text
|
| 274 |
+
data/stereo/item_placement/place_knife_on_hanging_shelf/recording_0004.mcap filter=lfs diff=lfs merge=lfs -text
|
| 275 |
+
data/stereo/item_placement/place_knife_on_hanging_shelf/recording_0005.mcap filter=lfs diff=lfs merge=lfs -text
|
| 276 |
+
data/stereo/item_placement/place_knife_on_hanging_shelf/recording_0006.mcap filter=lfs diff=lfs merge=lfs -text
|
| 277 |
+
data/stereo/item_placement/place_knife_on_hanging_shelf/recording_0007.mcap filter=lfs diff=lfs merge=lfs -text
|
| 278 |
+
data/stereo/item_placement/place_knife_on_hanging_shelf/recording_0008.mcap filter=lfs diff=lfs merge=lfs -text
|
| 279 |
+
data/stereo/item_placement/place_knife_on_hanging_shelf/recording_0009.mcap filter=lfs diff=lfs merge=lfs -text
|
| 280 |
+
data/stereo/item_placement/place_knife_on_hanging_shelf/recording_0010.mcap filter=lfs diff=lfs merge=lfs -text
|
| 281 |
+
data/stereo/item_placement/place_knife_on_hanging_shelf/recording_0011.mcap filter=lfs diff=lfs merge=lfs -text
|
| 282 |
+
data/stereo/item_placement/place_knife_on_hanging_shelf/recording_0012.mcap filter=lfs diff=lfs merge=lfs -text
|
| 283 |
+
data/stereo/item_placement/place_knife_on_hanging_shelf/recording_0013.mcap filter=lfs diff=lfs merge=lfs -text
|
| 284 |
+
data/stereo/item_placement/place_knife_on_hanging_shelf/recording_0014.mcap filter=lfs diff=lfs merge=lfs -text
|
| 285 |
+
data/stereo/item_placement/place_knife_on_hanging_shelf/recording_0015.mcap filter=lfs diff=lfs merge=lfs -text
|
| 286 |
+
data/stereo/item_placement/place_knife_on_hanging_shelf/recording_0016.mcap filter=lfs diff=lfs merge=lfs -text
|
| 287 |
+
data/stereo/item_storage/store_fruit_knife/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 288 |
+
data/stereo/item_storage/store_fruit_knife/recording_0002.mcap filter=lfs diff=lfs merge=lfs -text
|
| 289 |
+
data/stereo/item_storage/store_fruit_knife/recording_0003.mcap filter=lfs diff=lfs merge=lfs -text
|
| 290 |
+
data/stereo/item_storage/store_fruit_knife/recording_0004.mcap filter=lfs diff=lfs merge=lfs -text
|
| 291 |
+
data/stereo/item_storage/store_fruit_knife/recording_0005.mcap filter=lfs diff=lfs merge=lfs -text
|
| 292 |
+
data/stereo/item_storage/store_fruit_knife/recording_0006.mcap filter=lfs diff=lfs merge=lfs -text
|
| 293 |
+
data/stereo/item_storage/store_fruit_knife/recording_0007.mcap filter=lfs diff=lfs merge=lfs -text
|
| 294 |
+
data/stereo/item_storage/store_fruit_knife/recording_0008.mcap filter=lfs diff=lfs merge=lfs -text
|
| 295 |
+
data/stereo/item_storage/store_fruit_knife/recording_0009.mcap filter=lfs diff=lfs merge=lfs -text
|
| 296 |
+
data/stereo/item_storage/store_fruit_knife/recording_0010.mcap filter=lfs diff=lfs merge=lfs -text
|
| 297 |
+
data/stereo/item_storage/store_fruit_knife/recording_0011.mcap filter=lfs diff=lfs merge=lfs -text
|
| 298 |
+
data/stereo/item_storage/store_fruit_knife/recording_0012.mcap filter=lfs diff=lfs merge=lfs -text
|
| 299 |
+
data/stereo/item_storage/store_fruit_knife/recording_0013.mcap filter=lfs diff=lfs merge=lfs -text
|
| 300 |
+
data/stereo/item_storage/store_fruit_knife/recording_0014.mcap filter=lfs diff=lfs merge=lfs -text
|
| 301 |
+
data/stereo/item_storage/store_fruit_knife/recording_0015.mcap filter=lfs diff=lfs merge=lfs -text
|
| 302 |
+
data/stereo/item_storage/store_fruit_knife/recording_0016.mcap filter=lfs diff=lfs merge=lfs -text
|
| 303 |
+
data/stereo/paper_material_cutting/cut_paper_with_a_utility_knife/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 304 |
+
data/stereo/paper_material_cutting/cut_paper_with_a_utility_knife/recording_0002.mcap filter=lfs diff=lfs merge=lfs -text
|
| 305 |
+
data/stereo/paper_material_cutting/cut_paper_with_a_utility_knife/recording_0003.mcap filter=lfs diff=lfs merge=lfs -text
|
| 306 |
+
data/stereo/paper_material_cutting/cut_paper_with_a_utility_knife/recording_0004.mcap filter=lfs diff=lfs merge=lfs -text
|
| 307 |
+
data/stereo/paper_material_cutting/cut_paper_with_a_utility_knife/recording_0005.mcap filter=lfs diff=lfs merge=lfs -text
|
| 308 |
+
data/stereo/paper_material_cutting/cut_paper_with_a_utility_knife/recording_0006.mcap filter=lfs diff=lfs merge=lfs -text
|
| 309 |
+
data/stereo/paper_material_cutting/cut_paper_with_a_utility_knife/recording_0007.mcap filter=lfs diff=lfs merge=lfs -text
|
| 310 |
+
data/stereo/paper_material_cutting/cut_paper_with_a_utility_knife/recording_0008.mcap filter=lfs diff=lfs merge=lfs -text
|
| 311 |
+
data/stereo/paper_material_cutting/cut_paper_with_a_utility_knife/recording_0009.mcap filter=lfs diff=lfs merge=lfs -text
|
| 312 |
+
data/stereo/paper_material_cutting/cut_paper_with_a_utility_knife/recording_0010.mcap filter=lfs diff=lfs merge=lfs -text
|
| 313 |
+
data/stereo/cleaning_maintenance/wipe_computer_screen/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 314 |
+
data/stereo/clothing_care/fold_shirt/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 315 |
+
data/stereo/containment_packing/assemble_a_packing_box/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 316 |
+
data/stereo/cooking_heating/fry_french_fries_in_an_air_fryer/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 317 |
+
data/stereo/cosmetic_temporary_actions/apply_glue/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 318 |
+
data/stereo/cosmetics_hair_care/store_the_makeup_brush_after_use/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 319 |
+
data/stereo/device_interaction/assemble_sports_camera_connector/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 320 |
+
data/stereo/device_maintenance_assembly/replace_electric_toothbrush_brush_head/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 321 |
+
data/stereo/environment_plant_care/water_plants_with_a_watering_can/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 322 |
+
data/stereo/fastening_binding/pin_papers_with_thumbtacks/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 323 |
+
data/stereo/folding_clothes/fold_socks_into_a_pair/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 324 |
+
data/stereo/food_preparation/slice_bread/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 325 |
+
data/stereo/general_assembly_repair/assemble_portion_bottle/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 326 |
+
data/stereo/labware_handling/place_transparent_test_tube/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 327 |
+
data/stereo/living_room_tasks/pick_up_scattered_toys/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 328 |
+
data/stereo/measurement/measuring_trace_powder_with_micro_spoon/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 329 |
+
data/stereo/other/insert_straw_into_package/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 330 |
+
data/stereo/packaging_sealing/seal_a_wine_bottle_with_a_cork_stopper/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 331 |
+
data/stereo/power_cable_management/insert_and_twist_a_light_bulb/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 332 |
+
data/stereo/recipe_assembly/make_a_sandwich/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 333 |
+
data/stereo/serving_portioning/pick_up_chopsticks/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 334 |
+
data/stereo/sorting_arrangement/pick_up_keys_and_unlock_padlock/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 335 |
+
data/stereo/waste_management/pack_the_trash_bag_in_the_trash_can/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
| 336 |
+
data/stereo/writing_marking/open_the_pencil_case_and_take_out_a_pen/recording_0001.mcap filter=lfs diff=lfs merge=lfs -text
|
README.md
ADDED
|
@@ -0,0 +1,159 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
---
|
| 2 |
+
license: cc-by-4.0
|
| 3 |
+
task_categories:
|
| 4 |
+
- robotics
|
| 5 |
+
language:
|
| 6 |
+
- en
|
| 7 |
+
pretty_name: LBX Robotics Datasets
|
| 8 |
+
tags:
|
| 9 |
+
- robotics
|
| 10 |
+
- manipulation
|
| 11 |
+
- bimanual
|
| 12 |
+
- teleoperation
|
| 13 |
+
- xarm
|
| 14 |
+
- mcap
|
| 15 |
+
- foxglove
|
| 16 |
+
size_categories:
|
| 17 |
+
- n<1K
|
| 18 |
+
viewer: false
|
| 19 |
+
---
|
| 20 |
+
|
| 21 |
+
# LBX Robotics Datasets
|
| 22 |
+
|
| 23 |
+
A preview of Labelbox robotics data offerings.
|
| 24 |
+
|
| 25 |
+
## Bimanual xArm Manipulation
|
| 26 |
+
|
| 27 |
+
Bimanual teleoperated manipulation recordings collected on two dual-arm xArm stations. Sessions cover a broad set of household and table-top tasks and are shared as raw [MCAP](https://mcap.dev/) files so the full sensor and control fidelity is preserved end-to-end.
|
| 28 |
+
|
| 29 |
+
### Robots
|
| 30 |
+
|
| 31 |
+
Two bimanual stations are included:
|
| 32 |
+
|
| 33 |
+
| Station | Arms | URDF |
|
| 34 |
+
|---------|------|------|
|
| 35 |
+
| **Bimanual xArm6** | 2× UFACTORY xArm6 (6 DoF each) with parallel grippers | `urdf/dual_xarm6.urdf` |
|
| 36 |
+
| **Bimanual xArm7** | 2× UFACTORY xArm7 (7 DoF each) with parallel grippers | `urdf/dual_xarm7.urdf` |
|
| 37 |
+
|
| 38 |
+
Each station carries **three ZED 2i cameras**: one on the left wrist, one on the right wrist, and one overhead looking down at the workspace (the overhead camera's left and right stereo views are exposed as separate topics). Visual STL meshes for both arms, the parallel gripper, the end-tool plate, and the ZED 2i mount are provided so you can render the robot in a 3D viewer.
|
| 39 |
+
|
| 40 |
+
### Data format
|
| 41 |
+
|
| 42 |
+
All recordings are [MCAP](https://mcap.dev/) files with protobuf-encoded messages. They open directly in [Foxglove Studio](https://foxglove.dev/) for visual inspection, or via the [`mcap`](https://pypi.org/project/mcap/) Python package. Cameras are recorded at roughly 30 fps; robot proprioception and control signals at higher rates (see Topics below).
|
| 43 |
+
|
| 44 |
+
### Folder layout
|
| 45 |
+
|
| 46 |
+
```
|
| 47 |
+
Labelbox/robotics-datasets
|
| 48 |
+
├── README.md
|
| 49 |
+
└── data/
|
| 50 |
+
└── bimanual/
|
| 51 |
+
├── bimanual_foxglove_layout.json # Foxglove layout for these recordings
|
| 52 |
+
├── urdf/ # robot models + STL meshes
|
| 53 |
+
│ ├── dual_xarm6.urdf
|
| 54 |
+
│ ├── dual_xarm7.urdf
|
| 55 |
+
│ └── meshes/
|
| 56 |
+
│ ├── xarm6/visual/*.stl
|
| 57 |
+
│ ├── xarm7/visual/*.stl
|
| 58 |
+
│ ├── gripper/xarm/*.stl
|
| 59 |
+
│ ├── end_tool/collision/*.stl
|
| 60 |
+
│ ├── zed2i.stl
|
| 61 |
+
│ └── zed_camera_mount_xarm.stl
|
| 62 |
+
├── xarm6/
|
| 63 |
+
│ └── <task_name>/
|
| 64 |
+
│ └── recording_NNNN.mcap
|
| 65 |
+
└── xarm7/
|
| 66 |
+
└── <task_name>/
|
| 67 |
+
└── recording_NNNN.mcap
|
| 68 |
+
```
|
| 69 |
+
|
| 70 |
+
### Tasks
|
| 71 |
+
|
| 72 |
+
<table>
|
| 73 |
+
<tr><td valign="top" width="50%">
|
| 74 |
+
|
| 75 |
+
**xArm6 station**
|
| 76 |
+
|
| 77 |
+
| Task | Files |
|
| 78 |
+
|------|-------|
|
| 79 |
+
| `fold_tshirt` | 13 |
|
| 80 |
+
| `scrub_plate_with_sponge` | 24 |
|
| 81 |
+
| `place_clothing_into_basket` | 27 |
|
| 82 |
+
| `place_pot_on_stove_and_add_food_to_pot` | 2 |
|
| 83 |
+
| `remove_towel_from_drawer` | 2 |
|
| 84 |
+
| `watering_house_plant` | 2 |
|
| 85 |
+
| `put_trash_into_trash_bin` | 2 |
|
| 86 |
+
| `remove_hangers_from_rack` | 2 |
|
| 87 |
+
| `remove_hats_and_dirty_laundry` | 2 |
|
| 88 |
+
|
| 89 |
+
</td><td valign="top" width="50%">
|
| 90 |
+
|
| 91 |
+
**xArm7 station**
|
| 92 |
+
|
| 93 |
+
| Task | Files |
|
| 94 |
+
|------|-------|
|
| 95 |
+
| `remove_lunch_box_from_backpack` | 30 |
|
| 96 |
+
| `separate_condiments_baby_food_and_spices` | 12 |
|
| 97 |
+
| `set_up_dinner_table` | 27 |
|
| 98 |
+
| `place_objects_into_drawer` | 7 |
|
| 99 |
+
| `place_batteries_into_container` | 2 |
|
| 100 |
+
| `place_toothbrushes_into_holder` | 2 |
|
| 101 |
+
|
| 102 |
+
</td></tr>
|
| 103 |
+
</table>
|
| 104 |
+
|
| 105 |
+
### Topics
|
| 106 |
+
|
| 107 |
+
Topics present in every recording, with approximate publish rates from a representative session (rates vary slightly across recordings).
|
| 108 |
+
|
| 109 |
+
| Topic | Approx. rate | Description |
|
| 110 |
+
|-------|--------------|-------------|
|
| 111 |
+
| `/left-arm-proprio`, `/right-arm-proprio` | ~245 Hz | Joint state of each arm |
|
| 112 |
+
| `/left-eef-proprio`, `/right-eef-proprio` | ~245 Hz | End-effector state (pose, gripper) |
|
| 113 |
+
| `/left-arm-leader`, `/right-arm-leader` | ~73 Hz | VR controller state from the teleop leader |
|
| 114 |
+
| `/left-arm-ik-solution`, `/right-arm-ik-solution` | varies with motion | Inverse-kinematics solver output |
|
| 115 |
+
| `/left-arm-tf`, `/right-arm-tf` | ~19 Hz | Per-arm transforms |
|
| 116 |
+
| `/left-wrist-camera/image-raw` | ~30 Hz | Left wrist ZED 2i |
|
| 117 |
+
| `/right-wrist-camera/image-raw` | ~30 Hz | Right wrist ZED 2i |
|
| 118 |
+
| `/top-left-camera/image-raw` | ~30 Hz | Overhead ZED 2i, left stereo view |
|
| 119 |
+
| `/top-right-camera/image-raw` | ~30 Hz | Overhead ZED 2i, right stereo view |
|
| 120 |
+
| `/{...}-camera/camera-info` | once per file | Camera calibration |
|
| 121 |
+
| `/tf-static` | once per file | Static transforms |
|
| 122 |
+
| `/subtask-annotation` | sparse | Semantic step labels within a session |
|
| 123 |
+
|
| 124 |
+
All messages use protobuf encoding. Robot-specific schemas are namespaced under `lbx_robotics.msg.*` (e.g. `ArmState`, `EndEffectorState`, `IKSolution`, `VRControllerState`, `SubtaskAnnotation`). Camera and transform schemas use the standard `foxglove.*` types.
|
| 125 |
+
|
| 126 |
+
### Embedded session metadata
|
| 127 |
+
|
| 128 |
+
Every MCAP file contains a `session-metadata` record with the following fields:
|
| 129 |
+
|
| 130 |
+
| Field | Description |
|
| 131 |
+
|-------|-------------|
|
| 132 |
+
| `task-id` | Canonical task name (matches the folder name, e.g. `fold_tshirt`) |
|
| 133 |
+
| `task-instruction` | Human-readable instruction shown to the operator |
|
| 134 |
+
| `operator-id` | Opaque UUID identifying the teleop operator (no PII) |
|
| 135 |
+
| `station-id` | Identifier of the physical station the data was collected on |
|
| 136 |
+
| `session-uuid` | Unique session identifier |
|
| 137 |
+
| `start-time-unix`, `end-time-unix` | Session start and end times (seconds since epoch) |
|
| 138 |
+
| `urdf` | The full URDF used during the session, embedded inline as XML |
|
| 139 |
+
|
| 140 |
+
### Viewing in Foxglove
|
| 141 |
+
|
| 142 |
+
A Foxglove layout is provided at `data/bimanual/bimanual_foxglove_layout.json`. It pre-configures a 3D panel with the robot URDF, four image panels for the cameras, and raw-message panels for the proprioception and teleop streams.
|
| 143 |
+
|
| 144 |
+
1. Download `data/bimanual/urdf/` and `data/bimanual/bimanual_foxglove_layout.json` to your machine.
|
| 145 |
+
2. Open any `.mcap` recording in [Foxglove Studio](https://foxglove.dev/).
|
| 146 |
+
3. **View → Import layout from file…** and select `bimanual_foxglove_layout.json`.
|
| 147 |
+
4. In the 3D panel, find the **URDF** layer and set its `filePath` to your local copy of `dual_xarm6.urdf` (for xArm6 recordings) or `dual_xarm7.urdf` (for xArm7 recordings). The layout ships with this field intentionally blank.
|
| 148 |
+
|
| 149 |
+
## License
|
| 150 |
+
|
| 151 |
+
Released under the [**Creative Commons Attribution 4.0 International (CC-BY-4.0)**](https://creativecommons.org/licenses/by/4.0/) license. You are free to share and adapt the material for any purpose, including commercially, with appropriate credit.
|
| 152 |
+
|
| 153 |
+
Suggested attribution:
|
| 154 |
+
|
| 155 |
+
> Labelbox Robotics. *LBX Robotics Datasets — Bimanual xArm Manipulation.* Hugging Face, 2026. https://huggingface.co/datasets/Labelbox/robotics-datasets
|
| 156 |
+
|
| 157 |
+
## Contact
|
| 158 |
+
|
| 159 |
+
Maintained by the **Labelbox Robotics** team. For questions, collaborations, or feedback, use the dataset's [Discussions tab](https://huggingface.co/datasets/Labelbox/robotics-datasets/discussions) on Hugging Face.
|
data/bimanual/bimanual_foxglove_layout.json
ADDED
|
@@ -0,0 +1,391 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"configById": {
|
| 3 |
+
"3D!18i6zy7": {
|
| 4 |
+
"layers": {
|
| 5 |
+
"845139cb-26bc-40b3-8161-8ab60af4baf5": {
|
| 6 |
+
"visible": true,
|
| 7 |
+
"frameLocked": true,
|
| 8 |
+
"label": "Grid",
|
| 9 |
+
"instanceId": "845139cb-26bc-40b3-8161-8ab60af4baf5",
|
| 10 |
+
"layerId": "foxglove.Grid",
|
| 11 |
+
"size": 10,
|
| 12 |
+
"divisions": 10,
|
| 13 |
+
"lineWidth": 1,
|
| 14 |
+
"color": "#248eff",
|
| 15 |
+
"position": [
|
| 16 |
+
0,
|
| 17 |
+
0,
|
| 18 |
+
0
|
| 19 |
+
],
|
| 20 |
+
"rotation": [
|
| 21 |
+
0,
|
| 22 |
+
0,
|
| 23 |
+
0
|
| 24 |
+
],
|
| 25 |
+
"order": 1
|
| 26 |
+
},
|
| 27 |
+
"9c962774-87f3-4ec0-b547-7dc0812efd2d": {
|
| 28 |
+
"controlMode": "transforms",
|
| 29 |
+
"jointStatesTopic": "",
|
| 30 |
+
"displayMode": "auto",
|
| 31 |
+
"fallbackColor": "#ffffff",
|
| 32 |
+
"showAxis": false,
|
| 33 |
+
"axisScale": 1,
|
| 34 |
+
"showOutlines": true,
|
| 35 |
+
"opacity": 1,
|
| 36 |
+
"visible": true,
|
| 37 |
+
"instanceId": "9c962774-87f3-4ec0-b547-7dc0812efd2d",
|
| 38 |
+
"layerId": "foxglove.Urdf",
|
| 39 |
+
"label": "URDF",
|
| 40 |
+
"sourceType": "filePath",
|
| 41 |
+
"url": "",
|
| 42 |
+
"filePath": "",
|
| 43 |
+
"parameter": "",
|
| 44 |
+
"topic": "",
|
| 45 |
+
"framePrefix": "",
|
| 46 |
+
"order": 2
|
| 47 |
+
}
|
| 48 |
+
},
|
| 49 |
+
"cameraState": {
|
| 50 |
+
"perspective": true,
|
| 51 |
+
"distance": 2.5702431312970937,
|
| 52 |
+
"phi": 61.337496574627146,
|
| 53 |
+
"thetaOffset": -19.524540306690383,
|
| 54 |
+
"targetOffset": [
|
| 55 |
+
0.009270401011684313,
|
| 56 |
+
1.0119419707450392,
|
| 57 |
+
6.516487727616039e-17
|
| 58 |
+
],
|
| 59 |
+
"target": [
|
| 60 |
+
0,
|
| 61 |
+
0,
|
| 62 |
+
0
|
| 63 |
+
],
|
| 64 |
+
"targetOrientation": [
|
| 65 |
+
0,
|
| 66 |
+
0,
|
| 67 |
+
0,
|
| 68 |
+
1
|
| 69 |
+
],
|
| 70 |
+
"fovy": 45,
|
| 71 |
+
"near": 0.5,
|
| 72 |
+
"far": 5000
|
| 73 |
+
},
|
| 74 |
+
"followMode": "follow-pose",
|
| 75 |
+
"scene": {
|
| 76 |
+
"transforms": {
|
| 77 |
+
"labelSize": 0.05,
|
| 78 |
+
"visible": false
|
| 79 |
+
},
|
| 80 |
+
"meshUpAxis": "z_up"
|
| 81 |
+
},
|
| 82 |
+
"transforms": {
|
| 83 |
+
"frame:robot1_base": {
|
| 84 |
+
"visible": true
|
| 85 |
+
}
|
| 86 |
+
},
|
| 87 |
+
"topics": {
|
| 88 |
+
"/top-right-camera/image-raw": {
|
| 89 |
+
"visible": true,
|
| 90 |
+
"frameLocked": true,
|
| 91 |
+
"cameraInfoTopic": "/top-right-camera/camera-info",
|
| 92 |
+
"distance": 1,
|
| 93 |
+
"planarProjectionFactor": 0,
|
| 94 |
+
"renderMode": "default",
|
| 95 |
+
"projectionFrameId": "world",
|
| 96 |
+
"color": "#ffffff",
|
| 97 |
+
"rectifyImage": true,
|
| 98 |
+
"pointSize": 1.5
|
| 99 |
+
},
|
| 100 |
+
"/top-right-camera/camera-info": {
|
| 101 |
+
"visible": true,
|
| 102 |
+
"width": 0.005
|
| 103 |
+
}
|
| 104 |
+
},
|
| 105 |
+
"publish": {
|
| 106 |
+
"type": "point",
|
| 107 |
+
"poseTopic": "/move_base_simple/goal",
|
| 108 |
+
"pointTopic": "/clicked_point",
|
| 109 |
+
"poseEstimateTopic": "/initialpose",
|
| 110 |
+
"poseEstimateXDeviation": 0.5,
|
| 111 |
+
"poseEstimateYDeviation": 0.5,
|
| 112 |
+
"poseEstimateThetaDeviation": 0.26179939
|
| 113 |
+
},
|
| 114 |
+
"imageMode": {},
|
| 115 |
+
"followTf": "world",
|
| 116 |
+
"fixedFrame": "world",
|
| 117 |
+
"synchronize": false
|
| 118 |
+
},
|
| 119 |
+
"RawMessages!40i7nlv": {
|
| 120 |
+
"diffEnabled": false,
|
| 121 |
+
"diffMethod": "custom",
|
| 122 |
+
"diffTopicPath": "",
|
| 123 |
+
"showFullMessageForDiff": false,
|
| 124 |
+
"topicPath": "/subtask-annotation",
|
| 125 |
+
"fontSize": 12,
|
| 126 |
+
"defaultExpanded": false
|
| 127 |
+
},
|
| 128 |
+
"RawMessages!1apzi85": {
|
| 129 |
+
"diffEnabled": false,
|
| 130 |
+
"diffMethod": "custom",
|
| 131 |
+
"diffTopicPath": "",
|
| 132 |
+
"showFullMessageForDiff": false,
|
| 133 |
+
"topicPath": "/left-eef-proprio",
|
| 134 |
+
"fontSize": 12,
|
| 135 |
+
"defaultExpanded": true,
|
| 136 |
+
"expansion": {
|
| 137 |
+
"velocity": "c",
|
| 138 |
+
"acceleration": "c"
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"Image!3mnp456": {
|
| 142 |
+
"cameraState": {
|
| 143 |
+
"distance": 20,
|
| 144 |
+
"perspective": true,
|
| 145 |
+
"phi": 60,
|
| 146 |
+
"target": [
|
| 147 |
+
0,
|
| 148 |
+
0,
|
| 149 |
+
0
|
| 150 |
+
],
|
| 151 |
+
"targetOffset": [
|
| 152 |
+
0,
|
| 153 |
+
0,
|
| 154 |
+
0
|
| 155 |
+
],
|
| 156 |
+
"targetOrientation": [
|
| 157 |
+
0,
|
| 158 |
+
0,
|
| 159 |
+
0,
|
| 160 |
+
1
|
| 161 |
+
],
|
| 162 |
+
"thetaOffset": 45,
|
| 163 |
+
"fovy": 45,
|
| 164 |
+
"near": 0.5,
|
| 165 |
+
"far": 5000
|
| 166 |
+
},
|
| 167 |
+
"followMode": "follow-pose",
|
| 168 |
+
"scene": {},
|
| 169 |
+
"transforms": {},
|
| 170 |
+
"topics": {},
|
| 171 |
+
"layers": {},
|
| 172 |
+
"publish": {
|
| 173 |
+
"type": "point",
|
| 174 |
+
"poseTopic": "/move_base_simple/goal",
|
| 175 |
+
"pointTopic": "/clicked_point",
|
| 176 |
+
"poseEstimateTopic": "/initialpose",
|
| 177 |
+
"poseEstimateXDeviation": 0.5,
|
| 178 |
+
"poseEstimateYDeviation": 0.5,
|
| 179 |
+
"poseEstimateThetaDeviation": 0.26179939
|
| 180 |
+
},
|
| 181 |
+
"imageMode": {
|
| 182 |
+
"imageTopic": "/left-wrist-camera/image-raw",
|
| 183 |
+
"calibrationTopic": "/left-wrist-camera/camera-info",
|
| 184 |
+
"flipVertical": true
|
| 185 |
+
},
|
| 186 |
+
"synchronize": false
|
| 187 |
+
},
|
| 188 |
+
"Image!1zpwvzs": {
|
| 189 |
+
"cameraState": {
|
| 190 |
+
"distance": 20,
|
| 191 |
+
"perspective": true,
|
| 192 |
+
"phi": 60,
|
| 193 |
+
"target": [
|
| 194 |
+
0,
|
| 195 |
+
0,
|
| 196 |
+
0
|
| 197 |
+
],
|
| 198 |
+
"targetOffset": [
|
| 199 |
+
0,
|
| 200 |
+
0,
|
| 201 |
+
0
|
| 202 |
+
],
|
| 203 |
+
"targetOrientation": [
|
| 204 |
+
0,
|
| 205 |
+
0,
|
| 206 |
+
0,
|
| 207 |
+
1
|
| 208 |
+
],
|
| 209 |
+
"thetaOffset": 45,
|
| 210 |
+
"fovy": 45,
|
| 211 |
+
"near": 0.5,
|
| 212 |
+
"far": 5000
|
| 213 |
+
},
|
| 214 |
+
"followMode": "follow-pose",
|
| 215 |
+
"scene": {},
|
| 216 |
+
"transforms": {},
|
| 217 |
+
"topics": {},
|
| 218 |
+
"layers": {},
|
| 219 |
+
"publish": {
|
| 220 |
+
"type": "point",
|
| 221 |
+
"poseTopic": "/move_base_simple/goal",
|
| 222 |
+
"pointTopic": "/clicked_point",
|
| 223 |
+
"poseEstimateTopic": "/initialpose",
|
| 224 |
+
"poseEstimateXDeviation": 0.5,
|
| 225 |
+
"poseEstimateYDeviation": 0.5,
|
| 226 |
+
"poseEstimateThetaDeviation": 0.26179939
|
| 227 |
+
},
|
| 228 |
+
"imageMode": {
|
| 229 |
+
"imageTopic": "/right-wrist-camera/image-raw",
|
| 230 |
+
"calibrationTopic": "/right-wrist-camera/camera-info",
|
| 231 |
+
"flipVertical": true
|
| 232 |
+
},
|
| 233 |
+
"synchronize": false
|
| 234 |
+
},
|
| 235 |
+
"Image!3j5pjpc": {
|
| 236 |
+
"cameraState": {
|
| 237 |
+
"distance": 20,
|
| 238 |
+
"perspective": true,
|
| 239 |
+
"phi": 60,
|
| 240 |
+
"target": [
|
| 241 |
+
0,
|
| 242 |
+
0,
|
| 243 |
+
0
|
| 244 |
+
],
|
| 245 |
+
"targetOffset": [
|
| 246 |
+
0,
|
| 247 |
+
0,
|
| 248 |
+
0
|
| 249 |
+
],
|
| 250 |
+
"targetOrientation": [
|
| 251 |
+
0,
|
| 252 |
+
0,
|
| 253 |
+
0,
|
| 254 |
+
1
|
| 255 |
+
],
|
| 256 |
+
"thetaOffset": 45,
|
| 257 |
+
"fovy": 45,
|
| 258 |
+
"near": 0.5,
|
| 259 |
+
"far": 5000
|
| 260 |
+
},
|
| 261 |
+
"followMode": "follow-pose",
|
| 262 |
+
"scene": {},
|
| 263 |
+
"transforms": {},
|
| 264 |
+
"topics": {},
|
| 265 |
+
"layers": {},
|
| 266 |
+
"publish": {
|
| 267 |
+
"type": "point",
|
| 268 |
+
"poseTopic": "/move_base_simple/goal",
|
| 269 |
+
"pointTopic": "/clicked_point",
|
| 270 |
+
"poseEstimateTopic": "/initialpose",
|
| 271 |
+
"poseEstimateXDeviation": 0.5,
|
| 272 |
+
"poseEstimateYDeviation": 0.5,
|
| 273 |
+
"poseEstimateThetaDeviation": 0.26179939
|
| 274 |
+
},
|
| 275 |
+
"imageMode": {
|
| 276 |
+
"imageTopic": "/top-left-camera/image-raw",
|
| 277 |
+
"calibrationTopic": "/top-left-camera/camera-info"
|
| 278 |
+
},
|
| 279 |
+
"synchronize": false
|
| 280 |
+
},
|
| 281 |
+
"Image!4km7zph": {
|
| 282 |
+
"cameraState": {
|
| 283 |
+
"distance": 20,
|
| 284 |
+
"perspective": true,
|
| 285 |
+
"phi": 60,
|
| 286 |
+
"target": [
|
| 287 |
+
0,
|
| 288 |
+
0,
|
| 289 |
+
0
|
| 290 |
+
],
|
| 291 |
+
"targetOffset": [
|
| 292 |
+
0,
|
| 293 |
+
0,
|
| 294 |
+
0
|
| 295 |
+
],
|
| 296 |
+
"targetOrientation": [
|
| 297 |
+
0,
|
| 298 |
+
0,
|
| 299 |
+
0,
|
| 300 |
+
1
|
| 301 |
+
],
|
| 302 |
+
"thetaOffset": 45,
|
| 303 |
+
"fovy": 45,
|
| 304 |
+
"near": 0.5,
|
| 305 |
+
"far": 5000
|
| 306 |
+
},
|
| 307 |
+
"followMode": "follow-pose",
|
| 308 |
+
"scene": {},
|
| 309 |
+
"transforms": {},
|
| 310 |
+
"topics": {},
|
| 311 |
+
"layers": {},
|
| 312 |
+
"publish": {
|
| 313 |
+
"type": "point",
|
| 314 |
+
"poseTopic": "/move_base_simple/goal",
|
| 315 |
+
"pointTopic": "/clicked_point",
|
| 316 |
+
"poseEstimateTopic": "/initialpose",
|
| 317 |
+
"poseEstimateXDeviation": 0.5,
|
| 318 |
+
"poseEstimateYDeviation": 0.5,
|
| 319 |
+
"poseEstimateThetaDeviation": 0.26179939
|
| 320 |
+
},
|
| 321 |
+
"imageMode": {
|
| 322 |
+
"imageTopic": "/top-right-camera/image-raw",
|
| 323 |
+
"calibrationTopic": "/top-right-camera/camera-info"
|
| 324 |
+
},
|
| 325 |
+
"synchronize": false
|
| 326 |
+
},
|
| 327 |
+
"RawMessages!os6rgs": {
|
| 328 |
+
"diffEnabled": false,
|
| 329 |
+
"diffMethod": "custom",
|
| 330 |
+
"diffTopicPath": "",
|
| 331 |
+
"showFullMessageForDiff": false,
|
| 332 |
+
"topicPath": "/left-arm-leader",
|
| 333 |
+
"fontSize": 12,
|
| 334 |
+
"defaultExpanded": false
|
| 335 |
+
},
|
| 336 |
+
"RawMessages!2pvrh4v": {
|
| 337 |
+
"diffEnabled": false,
|
| 338 |
+
"diffMethod": "custom",
|
| 339 |
+
"diffTopicPath": "",
|
| 340 |
+
"showFullMessageForDiff": false,
|
| 341 |
+
"topicPath": "/left-arm-proprio",
|
| 342 |
+
"fontSize": 12,
|
| 343 |
+
"defaultExpanded": false
|
| 344 |
+
}
|
| 345 |
+
},
|
| 346 |
+
"globalVariables": {},
|
| 347 |
+
"userNodes": {},
|
| 348 |
+
"playbackConfig": {
|
| 349 |
+
"speed": 1
|
| 350 |
+
},
|
| 351 |
+
"drawerConfig": {
|
| 352 |
+
"tracks": []
|
| 353 |
+
},
|
| 354 |
+
"layout": {
|
| 355 |
+
"first": {
|
| 356 |
+
"first": "3D!18i6zy7",
|
| 357 |
+
"second": {
|
| 358 |
+
"first": "RawMessages!40i7nlv",
|
| 359 |
+
"second": "RawMessages!1apzi85",
|
| 360 |
+
"direction": "column",
|
| 361 |
+
"splitPercentage": 31.143715582546626
|
| 362 |
+
},
|
| 363 |
+
"direction": "column",
|
| 364 |
+
"splitPercentage": 45.343538472123626
|
| 365 |
+
},
|
| 366 |
+
"second": {
|
| 367 |
+
"first": {
|
| 368 |
+
"first": {
|
| 369 |
+
"first": "Image!3mnp456",
|
| 370 |
+
"second": "Image!1zpwvzs",
|
| 371 |
+
"direction": "row"
|
| 372 |
+
},
|
| 373 |
+
"second": {
|
| 374 |
+
"first": "Image!3j5pjpc",
|
| 375 |
+
"second": "Image!4km7zph",
|
| 376 |
+
"direction": "row"
|
| 377 |
+
},
|
| 378 |
+
"direction": "column"
|
| 379 |
+
},
|
| 380 |
+
"second": {
|
| 381 |
+
"first": "RawMessages!os6rgs",
|
| 382 |
+
"second": "RawMessages!2pvrh4v",
|
| 383 |
+
"direction": "row"
|
| 384 |
+
},
|
| 385 |
+
"direction": "column",
|
| 386 |
+
"splitPercentage": 61.811272957568086
|
| 387 |
+
},
|
| 388 |
+
"direction": "row",
|
| 389 |
+
"splitPercentage": 35.835196422868094
|
| 390 |
+
}
|
| 391 |
+
}
|
data/bimanual/urdf/dual_xarm6.urdf
ADDED
|
@@ -0,0 +1,1273 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0"?>
|
| 2 |
+
<!-- =================================================================================== -->
|
| 3 |
+
<!-- | Dual-arm xArm6 URDF for LBX Robotics System | -->
|
| 4 |
+
<!-- =================================================================================== -->
|
| 5 |
+
<robot name="dual_xarm6_kinematics">
|
| 6 |
+
|
| 7 |
+
<!-- Material definitions -->
|
| 8 |
+
<material name="White">
|
| 9 |
+
<color rgba="1.0 1.0 1.0 1.0"/>
|
| 10 |
+
</material>
|
| 11 |
+
|
| 12 |
+
<material name="Silver">
|
| 13 |
+
<color rgba="0.753 0.753 0.753 1.0"/>
|
| 14 |
+
</material>
|
| 15 |
+
|
| 16 |
+
<material name="zed_mat">
|
| 17 |
+
<color rgba="0.8 0.8 0.8 1.0"/>
|
| 18 |
+
</material>
|
| 19 |
+
<material name="zedm_mat">
|
| 20 |
+
<color rgba="0 0 0 1.0"/>
|
| 21 |
+
</material>
|
| 22 |
+
<material name="zed2_mat">
|
| 23 |
+
<color rgba="0.25 0.25 0.25 1.0"/>
|
| 24 |
+
</material>
|
| 25 |
+
<material name="zed2i_mat">
|
| 26 |
+
<color rgba="0.25 0.25 0.25 1.0"/>
|
| 27 |
+
</material>
|
| 28 |
+
<material name="zedx_mat">
|
| 29 |
+
<color rgba="0.25 0.25 0.25 1.0"/>
|
| 30 |
+
</material>
|
| 31 |
+
<material name="zedxm_mat">
|
| 32 |
+
<color rgba="0.25 0.25 0.25 1.0"/>
|
| 33 |
+
</material>
|
| 34 |
+
<material name="virtual_mat">
|
| 35 |
+
<color rgba="0.25 0.25 0.25 1.0"/>
|
| 36 |
+
</material>
|
| 37 |
+
<material name="zedxonegs_mat">
|
| 38 |
+
<color rgba="0.25 0.25 0.25 1.0"/>
|
| 39 |
+
</material>
|
| 40 |
+
<material name="zedxone4k_mat">
|
| 41 |
+
<color rgba="0.25 0.25 0.25 1.0"/>
|
| 42 |
+
</material>
|
| 43 |
+
|
| 44 |
+
<!-- World Frame - Common Reference -->
|
| 45 |
+
<link name="world"/>
|
| 46 |
+
|
| 47 |
+
<!-- ================= OVERHEAD CAMERA ================= -->
|
| 48 |
+
<!-- Overhead ZED Camera Link attached to world -->
|
| 49 |
+
<link name="overhead_zed_camera_link"/>
|
| 50 |
+
<joint name="world_to_overhead_zed_camera_link" type="fixed">
|
| 51 |
+
<origin xyz="0.0 0.0508 0.9652" rpy="-1.570796326794897 1.099 1.570796326794897"/>
|
| 52 |
+
<parent link="world" />
|
| 53 |
+
<child link="overhead_zed_camera_link" />
|
| 54 |
+
</joint>
|
| 55 |
+
|
| 56 |
+
<!-- Overhead Camera Center -->
|
| 57 |
+
<link name="overhead_zed_camera_center">
|
| 58 |
+
<visual>
|
| 59 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0 0.0"/>
|
| 60 |
+
<geometry>
|
| 61 |
+
<mesh filename="meshes/zed2i.stl"/>
|
| 62 |
+
</geometry>
|
| 63 |
+
<material name="zed2i_mat"/>
|
| 64 |
+
</visual>
|
| 65 |
+
<collision>
|
| 66 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0 0.0"/>
|
| 67 |
+
<geometry>
|
| 68 |
+
<mesh filename="meshes/zed2i.stl"/>
|
| 69 |
+
</geometry>
|
| 70 |
+
</collision>
|
| 71 |
+
</link>
|
| 72 |
+
<joint name="overhead_zed_camera_link_to_camera_center" type="fixed">
|
| 73 |
+
<parent link="overhead_zed_camera_link"/>
|
| 74 |
+
<child link="overhead_zed_camera_center"/>
|
| 75 |
+
<origin rpy="0 0 0" xyz="0 0 0.015"/>
|
| 76 |
+
</joint>
|
| 77 |
+
|
| 78 |
+
<!-- Overhead Left Camera -->
|
| 79 |
+
<link name="overhead_zed_left_camera_frame"/>
|
| 80 |
+
<joint name="overhead_zed_camera_center_to_left_camera_frame" type="fixed">
|
| 81 |
+
<parent link="overhead_zed_camera_center"/>
|
| 82 |
+
<child link="overhead_zed_left_camera_frame"/>
|
| 83 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0.0 0.06"/>
|
| 84 |
+
</joint>
|
| 85 |
+
|
| 86 |
+
<link name="overhead_zed_left_camera_optical_frame"/>
|
| 87 |
+
<joint name="overhead_zed_left_camera_frame_to_optical_frame" type="fixed">
|
| 88 |
+
<origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
|
| 89 |
+
<parent link="overhead_zed_left_camera_frame"/>
|
| 90 |
+
<child link="overhead_zed_left_camera_optical_frame"/>
|
| 91 |
+
</joint>
|
| 92 |
+
|
| 93 |
+
<!-- Overhead Right Camera -->
|
| 94 |
+
<link name="overhead_zed_right_camera_frame"/>
|
| 95 |
+
<joint name="overhead_zed_camera_center_to_right_camera_frame" type="fixed">
|
| 96 |
+
<parent link="overhead_zed_camera_center"/>
|
| 97 |
+
<child link="overhead_zed_right_camera_frame"/>
|
| 98 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0 -0.06"/>
|
| 99 |
+
</joint>
|
| 100 |
+
|
| 101 |
+
<link name="overhead_zed_right_camera_optical_frame"/>
|
| 102 |
+
<joint name="overhead_zed_right_camera_frame_to_optical_frame" type="fixed">
|
| 103 |
+
<origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
|
| 104 |
+
<parent link="overhead_zed_right_camera_frame"/>
|
| 105 |
+
<child link="overhead_zed_right_camera_optical_frame"/>
|
| 106 |
+
</joint>
|
| 107 |
+
|
| 108 |
+
<!-- Overhead Depth Camera -->
|
| 109 |
+
<link name="overhead_zed_depth_camera_frame"/>
|
| 110 |
+
<joint name="overhead_zed_camera_center_to_depth_camera_frame" type="fixed">
|
| 111 |
+
<parent link="overhead_zed_camera_center"/>
|
| 112 |
+
<child link="overhead_zed_depth_camera_frame"/>
|
| 113 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0.0 0.06"/>
|
| 114 |
+
</joint>
|
| 115 |
+
|
| 116 |
+
<link name="overhead_zed_depth_camera_optical_frame"/>
|
| 117 |
+
<joint name="overhead_zed_depth_camera_frame_to_optical_frame" type="fixed">
|
| 118 |
+
<origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
|
| 119 |
+
<parent link="overhead_zed_depth_camera_frame"/>
|
| 120 |
+
<child link="overhead_zed_depth_camera_optical_frame"/>
|
| 121 |
+
</joint>
|
| 122 |
+
|
| 123 |
+
<!-- Left Arm Base Attachment -->
|
| 124 |
+
<joint name="world_to_left_base" type="fixed">
|
| 125 |
+
<origin xyz="-0.5425 0.38 0" rpy="0 0 0" />
|
| 126 |
+
<parent link="world" />
|
| 127 |
+
<child link="L_link_base" />
|
| 128 |
+
</joint>
|
| 129 |
+
|
| 130 |
+
<!-- Right Arm Base Attachment -->
|
| 131 |
+
<joint name="world_to_right_base" type="fixed">
|
| 132 |
+
<origin xyz="0.5425 .38 0" rpy="0 0 0" />
|
| 133 |
+
<parent link="world" />
|
| 134 |
+
<child link="R_link_base" />
|
| 135 |
+
</joint>
|
| 136 |
+
|
| 137 |
+
<!--Left robot arm-->
|
| 138 |
+
|
| 139 |
+
<!-- Link Base -->
|
| 140 |
+
<link name="L_link_base">
|
| 141 |
+
<inertial>
|
| 142 |
+
<origin xyz="-0.021131 -0.0016302 0.056488" rpy="0 0 0" />
|
| 143 |
+
<mass value="0.88556" />
|
| 144 |
+
<inertia
|
| 145 |
+
ixx="0.0030595" ixy="0.00012259" ixz="-0.00062705"
|
| 146 |
+
iyy="0.0037783" iyz="0.00027023" izz="0.0020125" />
|
| 147 |
+
</inertial>
|
| 148 |
+
<visual>
|
| 149 |
+
<geometry>
|
| 150 |
+
<mesh filename="meshes/xarm6/visual/link_base.stl"/>
|
| 151 |
+
</geometry>
|
| 152 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 153 |
+
<material name="White" />
|
| 154 |
+
</visual>
|
| 155 |
+
<collision>
|
| 156 |
+
<geometry>
|
| 157 |
+
<mesh filename="meshes/xarm6/visual/link_base.stl"/>
|
| 158 |
+
</geometry>
|
| 159 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 160 |
+
</collision>
|
| 161 |
+
</link>
|
| 162 |
+
|
| 163 |
+
<!-- Link 1 -->
|
| 164 |
+
<link name="L_link1">
|
| 165 |
+
<inertial>
|
| 166 |
+
<origin xyz="-0.0002 0.02905 -0.01233" rpy="0 0 0" />
|
| 167 |
+
<mass value="2.382" />
|
| 168 |
+
<inertia
|
| 169 |
+
ixx="0.0056905" ixy="-1.579e-05" ixz="5.125e-06"
|
| 170 |
+
iyy="0.0049566" iyz="-0.000873378" izz="0.003316654" />
|
| 171 |
+
</inertial>
|
| 172 |
+
<visual>
|
| 173 |
+
<geometry>
|
| 174 |
+
<mesh filename="meshes/xarm6/visual/link1.stl"/>
|
| 175 |
+
</geometry>
|
| 176 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 177 |
+
<material name="White" />
|
| 178 |
+
</visual>
|
| 179 |
+
<collision>
|
| 180 |
+
<geometry>
|
| 181 |
+
<mesh filename="meshes/xarm6/visual/link1.stl"/>
|
| 182 |
+
</geometry>
|
| 183 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 184 |
+
</collision>
|
| 185 |
+
</link>
|
| 186 |
+
|
| 187 |
+
<!-- Joint 1 -->
|
| 188 |
+
<joint name="L_joint1" type="revolute">
|
| 189 |
+
<origin xyz="0 0 0.267" rpy="0 0 0" />
|
| 190 |
+
<parent link="L_link_base" />
|
| 191 |
+
<child link="L_link1" />
|
| 192 |
+
<axis xyz="0 0 1" />
|
| 193 |
+
<limit
|
| 194 |
+
lower="-6.283185307"
|
| 195 |
+
upper="6.283185307"
|
| 196 |
+
effort="50"
|
| 197 |
+
velocity="3.14" />
|
| 198 |
+
<dynamics damping="10" friction="1" />
|
| 199 |
+
</joint>
|
| 200 |
+
|
| 201 |
+
<!-- Link 2 -->
|
| 202 |
+
<link name="L_link2">
|
| 203 |
+
<inertial>
|
| 204 |
+
<origin xyz="0.00022 -0.12856 0.01735" rpy="0 0 0" />
|
| 205 |
+
<mass value="1.869" />
|
| 206 |
+
<inertia
|
| 207 |
+
ixx="0.0095989" ixy="1.541e-06" ixz="5.56e-06"
|
| 208 |
+
iyy="0.00382472" iyz="-0.00317156" izz="0.007565669" />
|
| 209 |
+
</inertial>
|
| 210 |
+
<visual>
|
| 211 |
+
<geometry>
|
| 212 |
+
<mesh filename="meshes/xarm6/visual/link2.stl"/>
|
| 213 |
+
</geometry>
|
| 214 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 215 |
+
<material name="White" />
|
| 216 |
+
</visual>
|
| 217 |
+
<collision>
|
| 218 |
+
<geometry>
|
| 219 |
+
<mesh filename="meshes/xarm6/visual/link2.stl"/>
|
| 220 |
+
</geometry>
|
| 221 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 222 |
+
</collision>
|
| 223 |
+
</link>
|
| 224 |
+
|
| 225 |
+
<!-- Joint 2 -->
|
| 226 |
+
<joint name="L_joint2" type="revolute">
|
| 227 |
+
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
|
| 228 |
+
<parent link="L_link1" />
|
| 229 |
+
<child link="L_link2" />
|
| 230 |
+
<axis xyz="0 0 1" />
|
| 231 |
+
<limit
|
| 232 |
+
lower="-2.059"
|
| 233 |
+
upper="2.0944"
|
| 234 |
+
effort="50"
|
| 235 |
+
velocity="3.14" />
|
| 236 |
+
<dynamics damping="10" friction="1" />
|
| 237 |
+
</joint>
|
| 238 |
+
|
| 239 |
+
<!-- Link 3 -->
|
| 240 |
+
<link name="L_link3">
|
| 241 |
+
<inertial>
|
| 242 |
+
<origin xyz="0.0466 -0.02463 -0.00768" rpy="0 0 0" />
|
| 243 |
+
<mass value="1.6383" />
|
| 244 |
+
<inertia
|
| 245 |
+
ixx="0.00310955" ixy="0.00030837" ixz="-0.00058453"
|
| 246 |
+
iyy="0.00264483" iyz="0.000338893" izz="0.0026624" />
|
| 247 |
+
</inertial>
|
| 248 |
+
<visual>
|
| 249 |
+
<geometry>
|
| 250 |
+
<mesh filename="meshes/xarm6/visual/link3.stl"/>
|
| 251 |
+
</geometry>
|
| 252 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 253 |
+
<material name="White" />
|
| 254 |
+
</visual>
|
| 255 |
+
<collision>
|
| 256 |
+
<geometry>
|
| 257 |
+
<mesh filename="meshes/xarm6/visual/link3.stl"/>
|
| 258 |
+
</geometry>
|
| 259 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 260 |
+
</collision>
|
| 261 |
+
</link>
|
| 262 |
+
|
| 263 |
+
<!-- Joint 3 -->
|
| 264 |
+
<joint name="L_joint3" type="revolute">
|
| 265 |
+
<origin xyz="0 -0.293 0" rpy="1.5708 0 0" />
|
| 266 |
+
<parent link="L_link2" />
|
| 267 |
+
<child link="L_link3" />
|
| 268 |
+
<axis xyz="0 0 1" />
|
| 269 |
+
<limit
|
| 270 |
+
lower="-6.283185307"
|
| 271 |
+
upper="6.283185307"
|
| 272 |
+
effort="30"
|
| 273 |
+
velocity="3.14" />
|
| 274 |
+
<dynamics damping="5" friction="1" />
|
| 275 |
+
</joint>
|
| 276 |
+
|
| 277 |
+
<!-- Link 4 -->
|
| 278 |
+
<link name="L_link4">
|
| 279 |
+
<inertial>
|
| 280 |
+
<origin xyz="0.07047 -0.11575 0.012" rpy="0 0 0" />
|
| 281 |
+
<mass value="1.7269" />
|
| 282 |
+
<inertia
|
| 283 |
+
ixx="0.005889" ixy="0.00137112" ixz="0.00088143"
|
| 284 |
+
iyy="0.00359703" iyz="-0.001762155" izz="0.00543244" />
|
| 285 |
+
</inertial>
|
| 286 |
+
<visual>
|
| 287 |
+
<geometry>
|
| 288 |
+
<mesh filename="meshes/xarm6/visual/link4.stl"/>
|
| 289 |
+
</geometry>
|
| 290 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 291 |
+
<material name="White" />
|
| 292 |
+
</visual>
|
| 293 |
+
<collision>
|
| 294 |
+
<geometry>
|
| 295 |
+
<mesh filename="meshes/xarm6/visual/link4.stl"/>
|
| 296 |
+
</geometry>
|
| 297 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 298 |
+
</collision>
|
| 299 |
+
</link>
|
| 300 |
+
|
| 301 |
+
<!-- Joint 4 -->
|
| 302 |
+
<joint name="L_joint4" type="revolute">
|
| 303 |
+
<origin xyz="0.0525 0 0" rpy="1.5708 0 0" />
|
| 304 |
+
<parent link="L_link3" />
|
| 305 |
+
<child link="L_link4" />
|
| 306 |
+
<axis xyz="0 0 1" />
|
| 307 |
+
<limit
|
| 308 |
+
lower="-0.19198"
|
| 309 |
+
upper="3.927"
|
| 310 |
+
effort="30"
|
| 311 |
+
velocity="3.14" />
|
| 312 |
+
<dynamics damping="5" friction="1" />
|
| 313 |
+
</joint>
|
| 314 |
+
|
| 315 |
+
<!-- Link 5 -->
|
| 316 |
+
<link name="L_link5">
|
| 317 |
+
<inertial>
|
| 318 |
+
<origin xyz="-0.00032 0.01604 -0.026" rpy="0 0 0" />
|
| 319 |
+
<mass value="1.3203" />
|
| 320 |
+
<inertia
|
| 321 |
+
ixx="0.00534665" ixy="1.5117e-05" ixz="-3.69e-07"
|
| 322 |
+
iyy="0.0049779" iyz="-0.00022132" izz="0.0013624" />
|
| 323 |
+
</inertial>
|
| 324 |
+
<visual>
|
| 325 |
+
<geometry>
|
| 326 |
+
<mesh filename="meshes/xarm6/visual/link5.stl"/>
|
| 327 |
+
</geometry>
|
| 328 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 329 |
+
<material name="White" />
|
| 330 |
+
</visual>
|
| 331 |
+
<collision>
|
| 332 |
+
<geometry>
|
| 333 |
+
<mesh filename="meshes/xarm6/visual/link5.stl"/>
|
| 334 |
+
</geometry>
|
| 335 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 336 |
+
</collision>
|
| 337 |
+
</link>
|
| 338 |
+
|
| 339 |
+
<!-- Joint 5 -->
|
| 340 |
+
<joint name="L_joint5" type="revolute">
|
| 341 |
+
<origin xyz="0.0775 -0.3425 0" rpy="1.5708 0 0" />
|
| 342 |
+
<parent link="L_link4" />
|
| 343 |
+
<child link="L_link5" />
|
| 344 |
+
<axis xyz="0 0 1" />
|
| 345 |
+
<limit
|
| 346 |
+
lower="-6.283185307"
|
| 347 |
+
upper="6.283185307"
|
| 348 |
+
effort="30"
|
| 349 |
+
velocity="3.14" />
|
| 350 |
+
<dynamics damping="5" friction="1" />
|
| 351 |
+
</joint>
|
| 352 |
+
|
| 353 |
+
<!-- Link 6 -->
|
| 354 |
+
<link name="L_link6">
|
| 355 |
+
<inertial>
|
| 356 |
+
<origin xyz="0.06469 0.03278 0.02141" rpy="0 0 0" />
|
| 357 |
+
<mass value="1.325" />
|
| 358 |
+
<inertia
|
| 359 |
+
ixx="0.0014745" ixy="-0.000488" ixz="0.0002953"
|
| 360 |
+
iyy="0.0019037" iyz="0.00014749" izz="0.0023652" />
|
| 361 |
+
</inertial>
|
| 362 |
+
<visual>
|
| 363 |
+
<geometry>
|
| 364 |
+
<mesh filename="meshes/xarm6/visual/link6.stl"/>
|
| 365 |
+
</geometry>
|
| 366 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 367 |
+
<material name="White" />
|
| 368 |
+
</visual>
|
| 369 |
+
<collision>
|
| 370 |
+
<geometry>
|
| 371 |
+
<mesh filename="meshes/xarm6/visual/link6.stl"/>
|
| 372 |
+
</geometry>
|
| 373 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 374 |
+
</collision>
|
| 375 |
+
</link>
|
| 376 |
+
|
| 377 |
+
<!-- Joint 6 -->
|
| 378 |
+
<joint name="L_joint6" type="revolute">
|
| 379 |
+
<origin xyz="0 0 0" rpy="1.5708 0 0" />
|
| 380 |
+
<parent link="L_link5" />
|
| 381 |
+
<child link="L_link6" />
|
| 382 |
+
<axis xyz="0 0 1" />
|
| 383 |
+
<limit
|
| 384 |
+
lower="-1.69297"
|
| 385 |
+
upper="3.14159265359"
|
| 386 |
+
effort="20"
|
| 387 |
+
velocity="3.14" />
|
| 388 |
+
<dynamics damping="2" friction="1" />
|
| 389 |
+
</joint>
|
| 390 |
+
|
| 391 |
+
<link name="L_link_eef"/>
|
| 392 |
+
<!-- Gripper attachment joint -->
|
| 393 |
+
<joint name="attachment_L_eef" type="fixed">
|
| 394 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 395 |
+
<parent link="L_link6" />
|
| 396 |
+
<child link="L_link_eef" />
|
| 397 |
+
</joint>
|
| 398 |
+
|
| 399 |
+
<joint name="attachment_L_xarm_gripper" type="fixed">
|
| 400 |
+
<origin xyz="0 0 0.005" rpy="0 0 0" />
|
| 401 |
+
<parent link="L_link_eef" />
|
| 402 |
+
<child link="L_xarm_gripper_base_link" />
|
| 403 |
+
</joint>
|
| 404 |
+
|
| 405 |
+
<!-- XArm Gripper Links and Joints -->
|
| 406 |
+
<link name="L_xarm_gripper_base_link">
|
| 407 |
+
<inertial>
|
| 408 |
+
<origin rpy="0 0 0" xyz="-0.00065489 -0.0018497 0.048028"/>
|
| 409 |
+
<mass value="0.54156"/>
|
| 410 |
+
<inertia ixx="0.00047106" ixy="3.9292E-07" ixz="2.6537E-06" iyy="0.00033072" iyz="-1.0975E-05" izz="0.00025642"/>
|
| 411 |
+
</inertial>
|
| 412 |
+
<visual>
|
| 413 |
+
<geometry>
|
| 414 |
+
<mesh filename="meshes/gripper/xarm/base_link.stl"/>
|
| 415 |
+
</geometry>
|
| 416 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 417 |
+
<material name="White"/>
|
| 418 |
+
</visual>
|
| 419 |
+
<collision>
|
| 420 |
+
<geometry>
|
| 421 |
+
<mesh filename="meshes/gripper/xarm/base_link.stl"/>
|
| 422 |
+
</geometry>
|
| 423 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 424 |
+
</collision>
|
| 425 |
+
</link>
|
| 426 |
+
|
| 427 |
+
<link name="L_left_outer_knuckle">
|
| 428 |
+
<inertial>
|
| 429 |
+
<origin rpy="0 0 0" xyz="2.9948E-14 0.021559 0.015181"/>
|
| 430 |
+
<mass value="0.033618"/>
|
| 431 |
+
<inertia ixx="1.9111E-05" ixy="-1.8803E-17" ixz="-1.1002E-17" iyy="6.6256E-06" iyz="-7.3008E-06" izz="1.3185E-05"/>
|
| 432 |
+
</inertial>
|
| 433 |
+
<visual>
|
| 434 |
+
<geometry>
|
| 435 |
+
<mesh filename="meshes/gripper/xarm/left_outer_knuckle.stl"/>
|
| 436 |
+
</geometry>
|
| 437 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 438 |
+
<material name="Silver"/>
|
| 439 |
+
</visual>
|
| 440 |
+
<collision>
|
| 441 |
+
<geometry>
|
| 442 |
+
<mesh filename="meshes/gripper/xarm/left_outer_knuckle.stl"/>
|
| 443 |
+
</geometry>
|
| 444 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 445 |
+
</collision>
|
| 446 |
+
</link>
|
| 447 |
+
|
| 448 |
+
<joint name="L_drive_joint" type="revolute">
|
| 449 |
+
<origin rpy="0 0 0" xyz="0 0.035 0.059098"/>
|
| 450 |
+
<parent link="L_xarm_gripper_base_link"/>
|
| 451 |
+
<child link="L_left_outer_knuckle"/>
|
| 452 |
+
<axis xyz="1 0 0"/>
|
| 453 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 454 |
+
<dynamics damping="1" friction="1" />
|
| 455 |
+
</joint>
|
| 456 |
+
|
| 457 |
+
<link name="L_left_finger">
|
| 458 |
+
<inertial>
|
| 459 |
+
<origin rpy="0 0 0" xyz="-2.4536E-14 -0.016413 0.029258"/>
|
| 460 |
+
<mass value="0.048304"/>
|
| 461 |
+
<inertia ixx="1.7493E-05" ixy="-4.2156E-19" ixz="6.9164E-18" iyy="1.7225E-05" iyz="4.6433E-06" izz="5.1466E-06"/>
|
| 462 |
+
</inertial>
|
| 463 |
+
<visual>
|
| 464 |
+
<geometry>
|
| 465 |
+
<mesh filename="meshes/gripper/xarm/left_finger.stl"/>
|
| 466 |
+
</geometry>
|
| 467 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 468 |
+
<material name="Silver"/>
|
| 469 |
+
</visual>
|
| 470 |
+
<collision>
|
| 471 |
+
<geometry>
|
| 472 |
+
<mesh filename="meshes/gripper/xarm/left_finger.stl"/>
|
| 473 |
+
</geometry>
|
| 474 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 475 |
+
</collision>
|
| 476 |
+
</link>
|
| 477 |
+
|
| 478 |
+
<joint name="L_left_finger_joint" type="revolute">
|
| 479 |
+
<origin rpy="0 0 0" xyz="0 0.035465 0.042039"/>
|
| 480 |
+
<parent link="L_left_outer_knuckle"/>
|
| 481 |
+
<child link="L_left_finger"/>
|
| 482 |
+
<axis xyz="-1 0 0"/>
|
| 483 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 484 |
+
<mimic joint="L_drive_joint" multiplier="1" offset="0"/>
|
| 485 |
+
<dynamics damping="1" friction="1" />
|
| 486 |
+
</joint>
|
| 487 |
+
|
| 488 |
+
<link name="L_left_inner_knuckle">
|
| 489 |
+
<inertial>
|
| 490 |
+
<origin rpy="0 0 0" xyz="1.86600784687907E-06 0.0220467847633621 0.0261334672830885"/>
|
| 491 |
+
<mass value="0.0230125781256706"/>
|
| 492 |
+
<inertia ixx="6.09490024271906E-06" ixy="6.06651326160071E-11" ixz="7.19102670500635E-11" iyy="6.01955084375188E-06" iyz="-2.75316812991721E-06" izz="5.07862004479903E-06"/>
|
| 493 |
+
</inertial>
|
| 494 |
+
<visual>
|
| 495 |
+
<geometry>
|
| 496 |
+
<mesh filename="meshes/gripper/xarm/left_inner_knuckle.stl"/>
|
| 497 |
+
</geometry>
|
| 498 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 499 |
+
<material name="Silver"/>
|
| 500 |
+
</visual>
|
| 501 |
+
<collision>
|
| 502 |
+
<geometry>
|
| 503 |
+
<mesh filename="meshes/gripper/xarm/left_inner_knuckle.stl"/>
|
| 504 |
+
</geometry>
|
| 505 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 506 |
+
</collision>
|
| 507 |
+
</link>
|
| 508 |
+
|
| 509 |
+
<joint name="L_left_inner_knuckle_joint" type="revolute">
|
| 510 |
+
<origin rpy="0 0 0" xyz="0 0.02 0.074098"/>
|
| 511 |
+
<parent link="L_xarm_gripper_base_link"/>
|
| 512 |
+
<child link="L_left_inner_knuckle"/>
|
| 513 |
+
<axis xyz="1 0 0"/>
|
| 514 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 515 |
+
<mimic joint="L_drive_joint" multiplier="1" offset="0"/>
|
| 516 |
+
<dynamics damping="1" friction="1" />
|
| 517 |
+
</joint>
|
| 518 |
+
|
| 519 |
+
<link name="L_right_outer_knuckle">
|
| 520 |
+
<inertial>
|
| 521 |
+
<origin rpy="0 0 0" xyz="-3.1669E-14 -0.021559 0.015181"/>
|
| 522 |
+
<mass value="0.033618"/>
|
| 523 |
+
<inertia ixx="1.9111E-05" ixy="-1.8789E-17" ixz="1.0986E-17" iyy="6.6256E-06" iyz="7.3008E-06" izz="1.3185E-05"/>
|
| 524 |
+
</inertial>
|
| 525 |
+
<visual>
|
| 526 |
+
<geometry>
|
| 527 |
+
<mesh filename="meshes/gripper/xarm/right_outer_knuckle.stl"/>
|
| 528 |
+
</geometry>
|
| 529 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 530 |
+
<material name="Silver"/>
|
| 531 |
+
</visual>
|
| 532 |
+
<collision>
|
| 533 |
+
<geometry>
|
| 534 |
+
<mesh filename="meshes/gripper/xarm/right_outer_knuckle.stl"/>
|
| 535 |
+
</geometry>
|
| 536 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 537 |
+
</collision>
|
| 538 |
+
</link>
|
| 539 |
+
|
| 540 |
+
<joint name="L_right_outer_knuckle_joint" type="revolute">
|
| 541 |
+
<origin rpy="0 0 0" xyz="0 -0.035 0.059098"/>
|
| 542 |
+
<parent link="L_xarm_gripper_base_link"/>
|
| 543 |
+
<child link="L_right_outer_knuckle"/>
|
| 544 |
+
<axis xyz="-1 0 0"/>
|
| 545 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 546 |
+
<mimic joint="L_drive_joint" multiplier="1" offset="0"/>
|
| 547 |
+
<dynamics damping="1" friction="1" />
|
| 548 |
+
</joint>
|
| 549 |
+
|
| 550 |
+
<link name="L_right_finger">
|
| 551 |
+
<inertial>
|
| 552 |
+
<origin rpy="0 0 0" xyz="2.5618E-14 0.016413 0.029258"/>
|
| 553 |
+
<mass value="0.048304"/>
|
| 554 |
+
<inertia ixx="1.7493E-05" ixy="-5.0014E-19" ixz="-7.5079E-18" iyy="1.7225E-05" iyz="-4.6435E-06" izz="5.1466E-06"/>
|
| 555 |
+
</inertial>
|
| 556 |
+
<visual>
|
| 557 |
+
<geometry>
|
| 558 |
+
<mesh filename="meshes/gripper/xarm/right_finger.stl"/>
|
| 559 |
+
</geometry>
|
| 560 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 561 |
+
<material name="Silver"/>
|
| 562 |
+
</visual>
|
| 563 |
+
<collision>
|
| 564 |
+
<geometry>
|
| 565 |
+
<mesh filename="meshes/gripper/xarm/right_finger.stl"/>
|
| 566 |
+
</geometry>
|
| 567 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 568 |
+
</collision>
|
| 569 |
+
</link>
|
| 570 |
+
|
| 571 |
+
<joint name="L_right_finger_joint" type="revolute">
|
| 572 |
+
<origin rpy="0 0 0" xyz="0 -0.035465 0.042039"/>
|
| 573 |
+
<parent link="L_right_outer_knuckle"/>
|
| 574 |
+
<child link="L_right_finger"/>
|
| 575 |
+
<axis xyz="1 0 0"/>
|
| 576 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 577 |
+
<mimic joint="L_drive_joint" multiplier="1" offset="0"/>
|
| 578 |
+
<dynamics damping="1" friction="1" />
|
| 579 |
+
</joint>
|
| 580 |
+
|
| 581 |
+
<link name="L_right_inner_knuckle">
|
| 582 |
+
<inertial>
|
| 583 |
+
<origin rpy="0 0 0" xyz="1.866E-06 -0.022047 0.026133"/>
|
| 584 |
+
<mass value="0.023013"/>
|
| 585 |
+
<inertia ixx="6.0949E-06" ixy="-6.0665E-11" ixz="7.191E-11" iyy="6.0197E-06" iyz="2.7531E-06" izz="5.0784E-06"/>
|
| 586 |
+
</inertial>
|
| 587 |
+
<visual>
|
| 588 |
+
<geometry>
|
| 589 |
+
<mesh filename="meshes/gripper/xarm/right_inner_knuckle.stl"/>
|
| 590 |
+
</geometry>
|
| 591 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 592 |
+
<material name="Silver"/>
|
| 593 |
+
</visual>
|
| 594 |
+
<collision>
|
| 595 |
+
<geometry>
|
| 596 |
+
<mesh filename="meshes/gripper/xarm/right_inner_knuckle.stl"/>
|
| 597 |
+
</geometry>
|
| 598 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 599 |
+
</collision>
|
| 600 |
+
</link>
|
| 601 |
+
|
| 602 |
+
<joint name="L_right_inner_knuckle_joint" type="revolute">
|
| 603 |
+
<origin rpy="0 0 0" xyz="0 -0.02 0.074098"/>
|
| 604 |
+
<parent link="L_xarm_gripper_base_link"/>
|
| 605 |
+
<child link="L_right_inner_knuckle"/>
|
| 606 |
+
<axis xyz="-1 0 0"/>
|
| 607 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 608 |
+
<mimic joint="L_drive_joint" multiplier="1" offset="0"/>
|
| 609 |
+
<dynamics damping="1" friction="1" />
|
| 610 |
+
</joint>
|
| 611 |
+
|
| 612 |
+
<!-- ================= ZED CAMERA MOUNT ================= -->
|
| 613 |
+
<link name="L_zed_camera_mount_link">
|
| 614 |
+
<visual>
|
| 615 |
+
<origin xyz="0 0 0" rpy="0 3.14159265 1.570796"/>
|
| 616 |
+
<geometry>
|
| 617 |
+
<mesh filename="meshes/zed_camera_mount_xarm.stl"/>
|
| 618 |
+
</geometry>
|
| 619 |
+
<material name="Silver"/>
|
| 620 |
+
</visual>
|
| 621 |
+
</link>
|
| 622 |
+
<joint name="L_zed_camera_mount_joint" type="fixed">
|
| 623 |
+
<parent link="L_link_eef"/>
|
| 624 |
+
<child link="L_zed_camera_mount_link"/>
|
| 625 |
+
<origin xyz="0.0 0 0.0" rpy="0 0 0"/>
|
| 626 |
+
</joint>
|
| 627 |
+
|
| 628 |
+
<!-- ================= ZED CAMERA INTEGRATION ================= -->
|
| 629 |
+
<joint name="L_zed_mount_joint" type="fixed">
|
| 630 |
+
<parent link="L_zed_camera_mount_link"/>
|
| 631 |
+
<child link="L_zed_camera_link"/>
|
| 632 |
+
<origin xyz="0.0726 0 0.0295" rpy="0 -1.04719 3.141596"/>
|
| 633 |
+
</joint>
|
| 634 |
+
|
| 635 |
+
<!-- Camera mounting point (the threaded screw hole in the bottom) -->
|
| 636 |
+
<link name="L_zed_camera_link"/>
|
| 637 |
+
|
| 638 |
+
<!-- Camera Center -->
|
| 639 |
+
<link name="L_zed_camera_center">
|
| 640 |
+
<visual>
|
| 641 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0 0.0"/>
|
| 642 |
+
<geometry>
|
| 643 |
+
<mesh filename="meshes/zed2i.stl"/>
|
| 644 |
+
</geometry>
|
| 645 |
+
<material name="zed2i_mat"/>
|
| 646 |
+
</visual>
|
| 647 |
+
<collision>
|
| 648 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0 0.0"/>
|
| 649 |
+
<geometry>
|
| 650 |
+
<mesh filename="meshes/zed2i.stl"/>
|
| 651 |
+
</geometry>
|
| 652 |
+
</collision>
|
| 653 |
+
</link>
|
| 654 |
+
<joint name="L_zed_camera_center_joint" type="fixed">
|
| 655 |
+
<parent link="L_zed_camera_link"/>
|
| 656 |
+
<child link="L_zed_camera_center"/>
|
| 657 |
+
<origin rpy="-1.5707963267948966 0.0 0" xyz="0 0 0.015"/>
|
| 658 |
+
</joint>
|
| 659 |
+
|
| 660 |
+
<!-- Left Camera -->
|
| 661 |
+
<link name="L_zed_left_camera_frame"/>
|
| 662 |
+
<joint name="L_zed_left_camera_joint" type="fixed">
|
| 663 |
+
<parent link="L_zed_camera_center"/>
|
| 664 |
+
<child link="L_zed_left_camera_frame"/>
|
| 665 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0.0 0.06"/>
|
| 666 |
+
</joint>
|
| 667 |
+
|
| 668 |
+
<link name="L_zed_left_camera_optical_frame"/>
|
| 669 |
+
<joint name="L_zed_left_camera_optical_joint" type="fixed">
|
| 670 |
+
<origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
|
| 671 |
+
<parent link="L_zed_left_camera_frame"/>
|
| 672 |
+
<child link="L_zed_left_camera_optical_frame"/>
|
| 673 |
+
</joint>
|
| 674 |
+
|
| 675 |
+
<!-- Right Camera -->
|
| 676 |
+
<link name="L_zed_right_camera_frame"/>
|
| 677 |
+
<joint name="L_zed_right_camera_joint" type="fixed">
|
| 678 |
+
<parent link="L_zed_camera_center"/>
|
| 679 |
+
<child link="L_zed_right_camera_frame"/>
|
| 680 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0 -0.06"/>
|
| 681 |
+
</joint>
|
| 682 |
+
|
| 683 |
+
<link name="L_zed_right_camera_optical_frame"/>
|
| 684 |
+
<joint name="L_zed_right_camera_optical_joint" type="fixed">
|
| 685 |
+
<origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
|
| 686 |
+
<parent link="L_zed_right_camera_frame"/>
|
| 687 |
+
<child link="L_zed_right_camera_optical_frame"/>
|
| 688 |
+
</joint>
|
| 689 |
+
|
| 690 |
+
<!-- Depth Camera -->
|
| 691 |
+
<link name="L_zed_depth_camera_frame"/>
|
| 692 |
+
<joint name="L_zed_depth_camera_joint" type="fixed">
|
| 693 |
+
<parent link="L_zed_camera_center"/>
|
| 694 |
+
<child link="L_zed_depth_camera_frame"/>
|
| 695 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0.0 0.06"/> <!-- this is the same as left camera , standard convention-->
|
| 696 |
+
</joint>
|
| 697 |
+
|
| 698 |
+
<link name="L_zed_depth_camera_optical_frame"/>
|
| 699 |
+
<joint name="L_zed_depth_camera_optical_joint" type="fixed">
|
| 700 |
+
<origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
|
| 701 |
+
<parent link="L_zed_depth_camera_frame"/>
|
| 702 |
+
<child link="L_zed_depth_camera_optical_frame"/>
|
| 703 |
+
</joint>
|
| 704 |
+
|
| 705 |
+
<!--Right robot arm-->
|
| 706 |
+
|
| 707 |
+
<!-- Link Base -->
|
| 708 |
+
<link name="R_link_base">
|
| 709 |
+
<inertial>
|
| 710 |
+
<origin xyz="-0.021131 -0.0016302 0.056488" rpy="0 0 0" />
|
| 711 |
+
<mass value="0.88556" />
|
| 712 |
+
<inertia
|
| 713 |
+
ixx="0.0030595" ixy="0.00012259" ixz="-0.00062705"
|
| 714 |
+
iyy="0.0037783" iyz="0.00027023" izz="0.0020125" />
|
| 715 |
+
</inertial>
|
| 716 |
+
<visual>
|
| 717 |
+
<geometry>
|
| 718 |
+
<mesh filename="meshes/xarm6/visual/link_base.stl"/>
|
| 719 |
+
</geometry>
|
| 720 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 721 |
+
<material name="White" />
|
| 722 |
+
</visual>
|
| 723 |
+
<collision>
|
| 724 |
+
<geometry>
|
| 725 |
+
<mesh filename="meshes/xarm6/visual/link_base.stl"/>
|
| 726 |
+
</geometry>
|
| 727 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 728 |
+
</collision>
|
| 729 |
+
</link>
|
| 730 |
+
|
| 731 |
+
<!-- Link 1 -->
|
| 732 |
+
<link name="R_link1">
|
| 733 |
+
<inertial>
|
| 734 |
+
<origin xyz="-0.0002 0.02905 -0.01233" rpy="0 0 0" />
|
| 735 |
+
<mass value="2.382" />
|
| 736 |
+
<inertia
|
| 737 |
+
ixx="0.0056905" ixy="-1.579e-05" ixz="5.125e-06"
|
| 738 |
+
iyy="0.0049566" iyz="-0.000873378" izz="0.003316654" />
|
| 739 |
+
</inertial>
|
| 740 |
+
<visual>
|
| 741 |
+
<geometry>
|
| 742 |
+
<mesh filename="meshes/xarm6/visual/link1.stl"/>
|
| 743 |
+
</geometry>
|
| 744 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 745 |
+
<material name="White" />
|
| 746 |
+
</visual>
|
| 747 |
+
<collision>
|
| 748 |
+
<geometry>
|
| 749 |
+
<mesh filename="meshes/xarm6/visual/link1.stl"/>
|
| 750 |
+
</geometry>
|
| 751 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 752 |
+
</collision>
|
| 753 |
+
</link>
|
| 754 |
+
|
| 755 |
+
<!-- Joint 1 -->
|
| 756 |
+
<joint name="R_joint1" type="revolute">
|
| 757 |
+
<origin xyz="0 0 0.267" rpy="0 0 0" />
|
| 758 |
+
<parent link="R_link_base" />
|
| 759 |
+
<child link="R_link1" />
|
| 760 |
+
<axis xyz="0 0 1" />
|
| 761 |
+
<limit
|
| 762 |
+
lower="-6.283185307"
|
| 763 |
+
upper="6.283185307"
|
| 764 |
+
effort="50"
|
| 765 |
+
velocity="3.14" />
|
| 766 |
+
<dynamics damping="10" friction="1" />
|
| 767 |
+
</joint>
|
| 768 |
+
|
| 769 |
+
<!-- Link 2 -->
|
| 770 |
+
<link name="R_link2">
|
| 771 |
+
<inertial>
|
| 772 |
+
<origin xyz="0.00022 -0.12856 0.01735" rpy="0 0 0" />
|
| 773 |
+
<mass value="1.869" />
|
| 774 |
+
<inertia
|
| 775 |
+
ixx="0.0095989" ixy="1.541e-06" ixz="5.56e-06"
|
| 776 |
+
iyy="0.00382472" iyz="-0.00317156" izz="0.007565669" />
|
| 777 |
+
</inertial>
|
| 778 |
+
<visual>
|
| 779 |
+
<geometry>
|
| 780 |
+
<mesh filename="meshes/xarm6/visual/link2.stl"/>
|
| 781 |
+
</geometry>
|
| 782 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 783 |
+
<material name="White" />
|
| 784 |
+
</visual>
|
| 785 |
+
<collision>
|
| 786 |
+
<geometry>
|
| 787 |
+
<mesh filename="meshes/xarm6/visual/link2.stl"/>
|
| 788 |
+
</geometry>
|
| 789 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 790 |
+
</collision>
|
| 791 |
+
</link>
|
| 792 |
+
|
| 793 |
+
<!-- Joint 2 -->
|
| 794 |
+
<joint name="R_joint2" type="revolute">
|
| 795 |
+
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
|
| 796 |
+
<parent link="R_link1" />
|
| 797 |
+
<child link="R_link2" />
|
| 798 |
+
<axis xyz="0 0 1" />
|
| 799 |
+
<limit
|
| 800 |
+
lower="-2.059"
|
| 801 |
+
upper="2.0944"
|
| 802 |
+
effort="50"
|
| 803 |
+
velocity="3.14" />
|
| 804 |
+
<dynamics damping="10" friction="1" />
|
| 805 |
+
</joint>
|
| 806 |
+
|
| 807 |
+
<!-- Link 3 -->
|
| 808 |
+
<link name="R_link3">
|
| 809 |
+
<inertial>
|
| 810 |
+
<origin xyz="0.0466 -0.02463 -0.00768" rpy="0 0 0" />
|
| 811 |
+
<mass value="1.6383" />
|
| 812 |
+
<inertia
|
| 813 |
+
ixx="0.00310955" ixy="0.00030837" ixz="-0.00058453"
|
| 814 |
+
iyy="0.00264483" iyz="0.000338893" izz="0.0026624" />
|
| 815 |
+
</inertial>
|
| 816 |
+
<visual>
|
| 817 |
+
<geometry>
|
| 818 |
+
<mesh filename="meshes/xarm6/visual/link3.stl"/>
|
| 819 |
+
</geometry>
|
| 820 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 821 |
+
<material name="White" />
|
| 822 |
+
</visual>
|
| 823 |
+
<collision>
|
| 824 |
+
<geometry>
|
| 825 |
+
<mesh filename="meshes/xarm6/visual/link3.stl"/>
|
| 826 |
+
</geometry>
|
| 827 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 828 |
+
</collision>
|
| 829 |
+
</link>
|
| 830 |
+
|
| 831 |
+
<!-- Joint 3 -->
|
| 832 |
+
<joint name="R_joint3" type="revolute">
|
| 833 |
+
<origin xyz="0 -0.293 0" rpy="1.5708 0 0" />
|
| 834 |
+
<parent link="R_link2" />
|
| 835 |
+
<child link="R_link3" />
|
| 836 |
+
<axis xyz="0 0 1" />
|
| 837 |
+
<limit
|
| 838 |
+
lower="-6.283185307"
|
| 839 |
+
upper="6.283185307"
|
| 840 |
+
effort="30"
|
| 841 |
+
velocity="3.14" />
|
| 842 |
+
<dynamics damping="5" friction="1" />
|
| 843 |
+
</joint>
|
| 844 |
+
|
| 845 |
+
<!-- Link 4 -->
|
| 846 |
+
<link name="R_link4">
|
| 847 |
+
<inertial>
|
| 848 |
+
<origin xyz="0.07047 -0.11575 0.012" rpy="0 0 0" />
|
| 849 |
+
<mass value="1.7269" />
|
| 850 |
+
<inertia
|
| 851 |
+
ixx="0.005889" ixy="0.00137112" ixz="0.00088143"
|
| 852 |
+
iyy="0.00359703" iyz="-0.001762155" izz="0.00543244" />
|
| 853 |
+
</inertial>
|
| 854 |
+
<visual>
|
| 855 |
+
<geometry>
|
| 856 |
+
<mesh filename="meshes/xarm6/visual/link4.stl"/>
|
| 857 |
+
</geometry>
|
| 858 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 859 |
+
<material name="White" />
|
| 860 |
+
</visual>
|
| 861 |
+
<collision>
|
| 862 |
+
<geometry>
|
| 863 |
+
<mesh filename="meshes/xarm6/visual/link4.stl"/>
|
| 864 |
+
</geometry>
|
| 865 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 866 |
+
</collision>
|
| 867 |
+
</link>
|
| 868 |
+
|
| 869 |
+
<!-- Joint 4 -->
|
| 870 |
+
<joint name="R_joint4" type="revolute">
|
| 871 |
+
<origin xyz="0.0525 0 0" rpy="1.5708 0 0" />
|
| 872 |
+
<parent link="R_link3" />
|
| 873 |
+
<child link="R_link4" />
|
| 874 |
+
<axis xyz="0 0 1" />
|
| 875 |
+
<limit
|
| 876 |
+
lower="-0.19198"
|
| 877 |
+
upper="3.927"
|
| 878 |
+
effort="30"
|
| 879 |
+
velocity="3.14" />
|
| 880 |
+
<dynamics damping="5" friction="1" />
|
| 881 |
+
</joint>
|
| 882 |
+
|
| 883 |
+
<!-- Link 5 -->
|
| 884 |
+
<link name="R_link5">
|
| 885 |
+
<inertial>
|
| 886 |
+
<origin xyz="-0.00032 0.01604 -0.026" rpy="0 0 0" />
|
| 887 |
+
<mass value="1.3203" />
|
| 888 |
+
<inertia
|
| 889 |
+
ixx="0.00534665" ixy="1.5117e-05" ixz="-3.69e-07"
|
| 890 |
+
iyy="0.0049779" iyz="-0.00022132" izz="0.0013624" />
|
| 891 |
+
</inertial>
|
| 892 |
+
<visual>
|
| 893 |
+
<geometry>
|
| 894 |
+
<mesh filename="meshes/xarm6/visual/link5.stl"/>
|
| 895 |
+
</geometry>
|
| 896 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 897 |
+
<material name="White" />
|
| 898 |
+
</visual>
|
| 899 |
+
<collision>
|
| 900 |
+
<geometry>
|
| 901 |
+
<mesh filename="meshes/xarm6/visual/link5.stl"/>
|
| 902 |
+
</geometry>
|
| 903 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 904 |
+
</collision>
|
| 905 |
+
</link>
|
| 906 |
+
|
| 907 |
+
<!-- Joint 5 -->
|
| 908 |
+
<joint name="R_joint5" type="revolute">
|
| 909 |
+
<origin xyz="0.0775 -0.3425 0" rpy="1.5708 0 0" />
|
| 910 |
+
<parent link="R_link4" />
|
| 911 |
+
<child link="R_link5" />
|
| 912 |
+
<axis xyz="0 0 1" />
|
| 913 |
+
<limit
|
| 914 |
+
lower="-6.283185307"
|
| 915 |
+
upper="6.283185307"
|
| 916 |
+
effort="30"
|
| 917 |
+
velocity="3.14" />
|
| 918 |
+
<dynamics damping="5" friction="1" />
|
| 919 |
+
</joint>
|
| 920 |
+
|
| 921 |
+
<!-- Link 6 -->
|
| 922 |
+
<link name="R_link6">
|
| 923 |
+
<inertial>
|
| 924 |
+
<origin xyz="0.06469 0.03278 0.02141" rpy="0 0 0" />
|
| 925 |
+
<mass value="1.325" />
|
| 926 |
+
<inertia
|
| 927 |
+
ixx="0.0014745" ixy="-0.000488" ixz="0.0002953"
|
| 928 |
+
iyy="0.0019037" iyz="0.00014749" izz="0.0023652" />
|
| 929 |
+
</inertial>
|
| 930 |
+
<visual>
|
| 931 |
+
<geometry>
|
| 932 |
+
<mesh filename="meshes/xarm6/visual/link6.stl"/>
|
| 933 |
+
</geometry>
|
| 934 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 935 |
+
<material name="White" />
|
| 936 |
+
</visual>
|
| 937 |
+
<collision>
|
| 938 |
+
<geometry>
|
| 939 |
+
<mesh filename="meshes/xarm6/visual/link6.stl"/>
|
| 940 |
+
</geometry>
|
| 941 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 942 |
+
</collision>
|
| 943 |
+
</link>
|
| 944 |
+
|
| 945 |
+
<!-- Joint 6 -->
|
| 946 |
+
<joint name="R_joint6" type="revolute">
|
| 947 |
+
<origin xyz="0 0 0" rpy="1.5708 0 0" />
|
| 948 |
+
<parent link="R_link5" />
|
| 949 |
+
<child link="R_link6" />
|
| 950 |
+
<axis xyz="0 0 1" />
|
| 951 |
+
<limit
|
| 952 |
+
lower="-1.69297"
|
| 953 |
+
upper="3.14159265359"
|
| 954 |
+
effort="20"
|
| 955 |
+
velocity="3.14" />
|
| 956 |
+
<dynamics damping="2" friction="1" />
|
| 957 |
+
</joint>
|
| 958 |
+
|
| 959 |
+
<link name="R_link_eef"/>
|
| 960 |
+
<!-- Gripper attachment joint -->
|
| 961 |
+
<joint name="attachment_R_eef" type="fixed">
|
| 962 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 963 |
+
<parent link="R_link6" />
|
| 964 |
+
<child link="R_link_eef" />
|
| 965 |
+
</joint>
|
| 966 |
+
|
| 967 |
+
<joint name="attachment_R_xarm_gripper" type="fixed">
|
| 968 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 969 |
+
<parent link="R_link_eef" />
|
| 970 |
+
<child link="R_xarm_gripper_base_link" />
|
| 971 |
+
</joint>
|
| 972 |
+
|
| 973 |
+
<!-- XArm Gripper Links and Joints -->
|
| 974 |
+
<link name="R_xarm_gripper_base_link">
|
| 975 |
+
<inertial>
|
| 976 |
+
<origin rpy="0 0 0" xyz="-0.00065489 -0.0018497 0.048028"/>
|
| 977 |
+
<mass value="0.54156"/>
|
| 978 |
+
<inertia ixx="0.00047106" ixy="3.9292E-07" ixz="2.6537E-06" iyy="0.00033072" iyz="-1.0975E-05" izz="0.00025642"/>
|
| 979 |
+
</inertial>
|
| 980 |
+
<visual>
|
| 981 |
+
<geometry>
|
| 982 |
+
<mesh filename="meshes/gripper/xarm/base_link.stl"/>
|
| 983 |
+
</geometry>
|
| 984 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 985 |
+
<material name="White"/>
|
| 986 |
+
</visual>
|
| 987 |
+
<collision>
|
| 988 |
+
<geometry>
|
| 989 |
+
<mesh filename="meshes/gripper/xarm/base_link.stl"/>
|
| 990 |
+
</geometry>
|
| 991 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 992 |
+
</collision>
|
| 993 |
+
</link>
|
| 994 |
+
|
| 995 |
+
<link name="R_left_outer_knuckle">
|
| 996 |
+
<inertial>
|
| 997 |
+
<origin rpy="0 0 0" xyz="2.9948E-14 0.021559 0.015181"/>
|
| 998 |
+
<mass value="0.033618"/>
|
| 999 |
+
<inertia ixx="1.9111E-05" ixy="-1.8803E-17" ixz="-1.1002E-17" iyy="6.6256E-06" iyz="-7.3008E-06" izz="1.3185E-05"/>
|
| 1000 |
+
</inertial>
|
| 1001 |
+
<visual>
|
| 1002 |
+
<geometry>
|
| 1003 |
+
<mesh filename="meshes/gripper/xarm/left_outer_knuckle.stl"/>
|
| 1004 |
+
</geometry>
|
| 1005 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1006 |
+
<material name="Silver"/>
|
| 1007 |
+
</visual>
|
| 1008 |
+
<collision>
|
| 1009 |
+
<geometry>
|
| 1010 |
+
<mesh filename="meshes/gripper/xarm/left_outer_knuckle.stl"/>
|
| 1011 |
+
</geometry>
|
| 1012 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1013 |
+
</collision>
|
| 1014 |
+
</link>
|
| 1015 |
+
|
| 1016 |
+
<joint name="R_drive_joint" type="revolute">
|
| 1017 |
+
<origin rpy="0 0 0" xyz="0 0.035 0.059098"/>
|
| 1018 |
+
<parent link="R_xarm_gripper_base_link"/>
|
| 1019 |
+
<child link="R_left_outer_knuckle"/>
|
| 1020 |
+
<axis xyz="1 0 0"/>
|
| 1021 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 1022 |
+
<dynamics damping="1" friction="1" />
|
| 1023 |
+
</joint>
|
| 1024 |
+
|
| 1025 |
+
<link name="R_left_finger">
|
| 1026 |
+
<inertial>
|
| 1027 |
+
<origin rpy="0 0 0" xyz="-2.4536E-14 -0.016413 0.029258"/>
|
| 1028 |
+
<mass value="0.048304"/>
|
| 1029 |
+
<inertia ixx="1.7493E-05" ixy="-4.2156E-19" ixz="6.9164E-18" iyy="1.7225E-05" iyz="4.6433E-06" izz="5.1466E-06"/>
|
| 1030 |
+
</inertial>
|
| 1031 |
+
<visual>
|
| 1032 |
+
<geometry>
|
| 1033 |
+
<mesh filename="meshes/gripper/xarm/left_finger.stl"/>
|
| 1034 |
+
</geometry>
|
| 1035 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1036 |
+
<material name="Silver"/>
|
| 1037 |
+
</visual>
|
| 1038 |
+
<collision>
|
| 1039 |
+
<geometry>
|
| 1040 |
+
<mesh filename="meshes/gripper/xarm/left_finger.stl"/>
|
| 1041 |
+
</geometry>
|
| 1042 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1043 |
+
</collision>
|
| 1044 |
+
</link>
|
| 1045 |
+
|
| 1046 |
+
<joint name="R_left_finger_joint" type="revolute">
|
| 1047 |
+
<origin rpy="0 0 0" xyz="0 0.035465 0.042039"/>
|
| 1048 |
+
<parent link="R_left_outer_knuckle"/>
|
| 1049 |
+
<child link="R_left_finger"/>
|
| 1050 |
+
<axis xyz="-1 0 0"/>
|
| 1051 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 1052 |
+
<mimic joint="R_drive_joint" multiplier="1" offset="0"/>
|
| 1053 |
+
<dynamics damping="1" friction="1" />
|
| 1054 |
+
</joint>
|
| 1055 |
+
|
| 1056 |
+
<link name="R_left_inner_knuckle">
|
| 1057 |
+
<inertial>
|
| 1058 |
+
<origin rpy="0 0 0" xyz="1.86600784687907E-06 0.0220467847633621 0.0261334672830885"/>
|
| 1059 |
+
<mass value="0.0230125781256706"/>
|
| 1060 |
+
<inertia ixx="6.09490024271906E-06" ixy="6.06651326160071E-11" ixz="7.19102670500635E-11" iyy="6.01955084375188E-06" iyz="-2.75316812991721E-06" izz="5.07862004479903E-06"/>
|
| 1061 |
+
</inertial>
|
| 1062 |
+
<visual>
|
| 1063 |
+
<geometry>
|
| 1064 |
+
<mesh filename="meshes/gripper/xarm/left_inner_knuckle.stl"/>
|
| 1065 |
+
</geometry>
|
| 1066 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1067 |
+
<material name="Silver"/>
|
| 1068 |
+
</visual>
|
| 1069 |
+
<collision>
|
| 1070 |
+
<geometry>
|
| 1071 |
+
<mesh filename="meshes/gripper/xarm/left_inner_knuckle.stl"/>
|
| 1072 |
+
</geometry>
|
| 1073 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1074 |
+
</collision>
|
| 1075 |
+
</link>
|
| 1076 |
+
|
| 1077 |
+
<joint name="R_left_inner_knuckle_joint" type="revolute">
|
| 1078 |
+
<origin rpy="0 0 0" xyz="0 0.02 0.074098"/>
|
| 1079 |
+
<parent link="R_xarm_gripper_base_link"/>
|
| 1080 |
+
<child link="R_left_inner_knuckle"/>
|
| 1081 |
+
<axis xyz="1 0 0"/>
|
| 1082 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 1083 |
+
<mimic joint="R_drive_joint" multiplier="1" offset="0"/>
|
| 1084 |
+
<dynamics damping="1" friction="1" />
|
| 1085 |
+
</joint>
|
| 1086 |
+
|
| 1087 |
+
<link name="R_right_outer_knuckle">
|
| 1088 |
+
<inertial>
|
| 1089 |
+
<origin rpy="0 0 0" xyz="-3.1669E-14 -0.021559 0.015181"/>
|
| 1090 |
+
<mass value="0.033618"/>
|
| 1091 |
+
<inertia ixx="1.9111E-05" ixy="-1.8789E-17" ixz="1.0986E-17" iyy="6.6256E-06" iyz="7.3008E-06" izz="1.3185E-05"/>
|
| 1092 |
+
</inertial>
|
| 1093 |
+
<visual>
|
| 1094 |
+
<geometry>
|
| 1095 |
+
<mesh filename="meshes/gripper/xarm/right_outer_knuckle.stl"/>
|
| 1096 |
+
</geometry>
|
| 1097 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1098 |
+
<material name="Silver"/>
|
| 1099 |
+
</visual>
|
| 1100 |
+
<collision>
|
| 1101 |
+
<geometry>
|
| 1102 |
+
<mesh filename="meshes/gripper/xarm/right_outer_knuckle.stl"/>
|
| 1103 |
+
</geometry>
|
| 1104 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1105 |
+
</collision>
|
| 1106 |
+
</link>
|
| 1107 |
+
|
| 1108 |
+
<joint name="R_right_outer_knuckle_joint" type="revolute">
|
| 1109 |
+
<origin rpy="0 0 0" xyz="0 -0.035 0.059098"/>
|
| 1110 |
+
<parent link="R_xarm_gripper_base_link"/>
|
| 1111 |
+
<child link="R_right_outer_knuckle"/>
|
| 1112 |
+
<axis xyz="-1 0 0"/>
|
| 1113 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 1114 |
+
<mimic joint="R_drive_joint" multiplier="1" offset="0"/>
|
| 1115 |
+
<dynamics damping="1" friction="1" />
|
| 1116 |
+
</joint>
|
| 1117 |
+
|
| 1118 |
+
<link name="R_right_finger">
|
| 1119 |
+
<inertial>
|
| 1120 |
+
<origin rpy="0 0 0" xyz="2.5618E-14 0.016413 0.029258"/>
|
| 1121 |
+
<mass value="0.048304"/>
|
| 1122 |
+
<inertia ixx="1.7493E-05" ixy="-5.0014E-19" ixz="-7.5079E-18" iyy="1.7225E-05" iyz="-4.6435E-06" izz="5.1466E-06"/>
|
| 1123 |
+
</inertial>
|
| 1124 |
+
<visual>
|
| 1125 |
+
<geometry>
|
| 1126 |
+
<mesh filename="meshes/gripper/xarm/right_finger.stl"/>
|
| 1127 |
+
</geometry>
|
| 1128 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1129 |
+
<material name="Silver"/>
|
| 1130 |
+
</visual>
|
| 1131 |
+
<collision>
|
| 1132 |
+
<geometry>
|
| 1133 |
+
<mesh filename="meshes/gripper/xarm/right_finger.stl"/>
|
| 1134 |
+
</geometry>
|
| 1135 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1136 |
+
</collision>
|
| 1137 |
+
</link>
|
| 1138 |
+
|
| 1139 |
+
<joint name="R_right_finger_joint" type="revolute">
|
| 1140 |
+
<origin rpy="0 0 0" xyz="0 -0.035465 0.042039"/>
|
| 1141 |
+
<parent link="R_right_outer_knuckle"/>
|
| 1142 |
+
<child link="R_right_finger"/>
|
| 1143 |
+
<axis xyz="1 0 0"/>
|
| 1144 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 1145 |
+
<mimic joint="R_drive_joint" multiplier="1" offset="0"/>
|
| 1146 |
+
<dynamics damping="1" friction="1" />
|
| 1147 |
+
</joint>
|
| 1148 |
+
|
| 1149 |
+
<link name="R_right_inner_knuckle">
|
| 1150 |
+
<inertial>
|
| 1151 |
+
<origin rpy="0 0 0" xyz="1.866E-06 -0.022047 0.026133"/>
|
| 1152 |
+
<mass value="0.023013"/>
|
| 1153 |
+
<inertia ixx="6.0949E-06" ixy="-6.0665E-11" ixz="7.191E-11" iyy="6.0197E-06" iyz="2.7531E-06" izz="5.0784E-06"/>
|
| 1154 |
+
</inertial>
|
| 1155 |
+
<visual>
|
| 1156 |
+
<geometry>
|
| 1157 |
+
<mesh filename="meshes/gripper/xarm/right_inner_knuckle.stl"/>
|
| 1158 |
+
</geometry>
|
| 1159 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1160 |
+
<material name="Silver"/>
|
| 1161 |
+
</visual>
|
| 1162 |
+
<collision>
|
| 1163 |
+
<geometry>
|
| 1164 |
+
<mesh filename="meshes/gripper/xarm/right_inner_knuckle.stl"/>
|
| 1165 |
+
</geometry>
|
| 1166 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1167 |
+
</collision>
|
| 1168 |
+
</link>
|
| 1169 |
+
|
| 1170 |
+
<joint name="R_right_inner_knuckle_joint" type="revolute">
|
| 1171 |
+
<origin rpy="0 0 0" xyz="0 -0.02 0.074098"/>
|
| 1172 |
+
<parent link="R_xarm_gripper_base_link"/>
|
| 1173 |
+
<child link="R_right_inner_knuckle"/>
|
| 1174 |
+
<axis xyz="-1 0 0"/>
|
| 1175 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 1176 |
+
<mimic joint="R_drive_joint" multiplier="1" offset="0"/>
|
| 1177 |
+
<dynamics damping="1" friction="1" />
|
| 1178 |
+
</joint>
|
| 1179 |
+
|
| 1180 |
+
<!-- ================= ZED CAMERA MOUNT ================= -->
|
| 1181 |
+
<link name="R_zed_camera_mount_link">
|
| 1182 |
+
<visual>
|
| 1183 |
+
<origin xyz="0 0 0" rpy="0 3.14159265 1.570796"/>
|
| 1184 |
+
<geometry>
|
| 1185 |
+
<mesh filename="meshes/zed_camera_mount_xarm.stl"/>
|
| 1186 |
+
</geometry>
|
| 1187 |
+
<material name="Silver"/>
|
| 1188 |
+
</visual>
|
| 1189 |
+
</link>
|
| 1190 |
+
<joint name="R_zed_camera_mount_joint" type="fixed">
|
| 1191 |
+
<parent link="R_link_eef"/>
|
| 1192 |
+
<child link="R_zed_camera_mount_link"/>
|
| 1193 |
+
<origin xyz="0.0 0 0.0" rpy="0 0 0"/>
|
| 1194 |
+
</joint>
|
| 1195 |
+
|
| 1196 |
+
<!-- ================= ZED CAMERA INTEGRATION ================= -->
|
| 1197 |
+
<joint name="R_zed_mount_joint" type="fixed">
|
| 1198 |
+
<parent link="R_zed_camera_mount_link"/>
|
| 1199 |
+
<child link="R_zed_camera_link"/>
|
| 1200 |
+
<origin xyz="0.0726 0 0.0295" rpy="0 -1.04719 3.141596"/>
|
| 1201 |
+
</joint>
|
| 1202 |
+
|
| 1203 |
+
<!-- Camera mounting point (the threaded screw hole in the bottom) -->
|
| 1204 |
+
<link name="R_zed_camera_link"/>
|
| 1205 |
+
|
| 1206 |
+
<!-- Camera Center -->
|
| 1207 |
+
<link name="R_zed_camera_center">
|
| 1208 |
+
<visual>
|
| 1209 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0 0.0"/>
|
| 1210 |
+
<geometry>
|
| 1211 |
+
<mesh filename="meshes/zed2i.stl"/>
|
| 1212 |
+
</geometry>
|
| 1213 |
+
<material name="zed2i_mat"/>
|
| 1214 |
+
</visual>
|
| 1215 |
+
<collision>
|
| 1216 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0 0.0"/>
|
| 1217 |
+
<geometry>
|
| 1218 |
+
<mesh filename="meshes/zed2i.stl"/>
|
| 1219 |
+
</geometry>
|
| 1220 |
+
</collision>
|
| 1221 |
+
</link>
|
| 1222 |
+
<joint name="R_zed_camera_center_joint" type="fixed">
|
| 1223 |
+
<parent link="R_zed_camera_link"/>
|
| 1224 |
+
<child link="R_zed_camera_center"/>
|
| 1225 |
+
<origin rpy="-1.5707963267948966 0.0 0" xyz="0 0 0.015"/>
|
| 1226 |
+
</joint>
|
| 1227 |
+
|
| 1228 |
+
<!-- Left Camera -->
|
| 1229 |
+
<link name="R_zed_left_camera_frame"/>
|
| 1230 |
+
<joint name="R_zed_left_camera_joint" type="fixed">
|
| 1231 |
+
<parent link="R_zed_camera_center"/>
|
| 1232 |
+
<child link="R_zed_left_camera_frame"/>
|
| 1233 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0.0 0.06"/>
|
| 1234 |
+
</joint>
|
| 1235 |
+
|
| 1236 |
+
<link name="R_zed_left_camera_optical_frame"/>
|
| 1237 |
+
<joint name="R_zed_left_camera_optical_joint" type="fixed">
|
| 1238 |
+
<origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
|
| 1239 |
+
<parent link="R_zed_left_camera_frame"/>
|
| 1240 |
+
<child link="R_zed_left_camera_optical_frame"/>
|
| 1241 |
+
</joint>
|
| 1242 |
+
|
| 1243 |
+
<!-- Right Camera -->
|
| 1244 |
+
<link name="R_zed_right_camera_frame"/>
|
| 1245 |
+
<joint name="R_zed_right_camera_joint" type="fixed">
|
| 1246 |
+
<parent link="R_zed_camera_center"/>
|
| 1247 |
+
<child link="R_zed_right_camera_frame"/>
|
| 1248 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0 -0.06"/>
|
| 1249 |
+
</joint>
|
| 1250 |
+
|
| 1251 |
+
<link name="R_zed_right_camera_optical_frame"/>
|
| 1252 |
+
<joint name="R_zed_right_camera_optical_joint" type="fixed">
|
| 1253 |
+
<origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
|
| 1254 |
+
<parent link="R_zed_right_camera_frame"/>
|
| 1255 |
+
<child link="R_zed_right_camera_optical_frame"/>
|
| 1256 |
+
</joint>
|
| 1257 |
+
|
| 1258 |
+
<!-- Depth Camera -->
|
| 1259 |
+
<link name="R_zed_depth_camera_frame"/>
|
| 1260 |
+
<joint name="R_zed_depth_camera_joint" type="fixed">
|
| 1261 |
+
<parent link="R_zed_camera_center"/>
|
| 1262 |
+
<child link="R_zed_depth_camera_frame"/>
|
| 1263 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0.0 0.06"/> <!-- this is the same as left camera , standard convention-->
|
| 1264 |
+
</joint>
|
| 1265 |
+
|
| 1266 |
+
<link name="R_zed_depth_camera_optical_frame"/>
|
| 1267 |
+
<joint name="R_zed_depth_camera_optical_joint" type="fixed">
|
| 1268 |
+
<origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
|
| 1269 |
+
<parent link="R_zed_depth_camera_frame"/>
|
| 1270 |
+
<child link="R_zed_depth_camera_optical_frame"/>
|
| 1271 |
+
</joint>
|
| 1272 |
+
|
| 1273 |
+
</robot>
|
data/bimanual/urdf/dual_xarm7.urdf
ADDED
|
@@ -0,0 +1,1349 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0"?>
|
| 2 |
+
<!-- =================================================================================== -->
|
| 3 |
+
<!-- | Dual-arm xArm7 URDF for LBX Robotics System | -->
|
| 4 |
+
<!-- =================================================================================== -->
|
| 5 |
+
<robot name="dual_xarm7_kinematics">
|
| 6 |
+
|
| 7 |
+
<!-- Material definitions -->
|
| 8 |
+
<material name="White">
|
| 9 |
+
<color rgba="1.0 1.0 1.0 1.0"/>
|
| 10 |
+
</material>
|
| 11 |
+
|
| 12 |
+
<material name="Silver">
|
| 13 |
+
<color rgba="0.753 0.753 0.753 1.0"/>
|
| 14 |
+
</material>
|
| 15 |
+
|
| 16 |
+
<material name="zed_mat">
|
| 17 |
+
<color rgba="0.8 0.8 0.8 1.0"/>
|
| 18 |
+
</material>
|
| 19 |
+
<material name="zedm_mat">
|
| 20 |
+
<color rgba="0 0 0 1.0"/>
|
| 21 |
+
</material>
|
| 22 |
+
<material name="zed2_mat">
|
| 23 |
+
<color rgba="0.25 0.25 0.25 1.0"/>
|
| 24 |
+
</material>
|
| 25 |
+
<material name="zed2i_mat">
|
| 26 |
+
<color rgba="0.25 0.25 0.25 1.0"/>
|
| 27 |
+
</material>
|
| 28 |
+
<material name="zedx_mat">
|
| 29 |
+
<color rgba="0.25 0.25 0.25 1.0"/>
|
| 30 |
+
</material>
|
| 31 |
+
<material name="zedxm_mat">
|
| 32 |
+
<color rgba="0.25 0.25 0.25 1.0"/>
|
| 33 |
+
</material>
|
| 34 |
+
<material name="virtual_mat">
|
| 35 |
+
<color rgba="0.25 0.25 0.25 1.0"/>
|
| 36 |
+
</material>
|
| 37 |
+
<material name="zedxonegs_mat">
|
| 38 |
+
<color rgba="0.25 0.25 0.25 1.0"/>
|
| 39 |
+
</material>
|
| 40 |
+
<material name="zedxone4k_mat">
|
| 41 |
+
<color rgba="0.25 0.25 0.25 1.0"/>
|
| 42 |
+
</material>
|
| 43 |
+
|
| 44 |
+
<!-- World Frame - Common Reference -->
|
| 45 |
+
<link name="world"/>
|
| 46 |
+
|
| 47 |
+
<!-- ================= OVERHEAD CAMERA ================= -->
|
| 48 |
+
<!-- Overhead ZED Camera Link attached to world -->
|
| 49 |
+
<link name="overhead_zed_camera_link"/>
|
| 50 |
+
<joint name="world_to_overhead_zed_camera_link" type="fixed">
|
| 51 |
+
<origin xyz="0.0 0.0508 0.9652" rpy="-1.570796326794897 1.099 1.570796326794897"/>
|
| 52 |
+
<parent link="world" />
|
| 53 |
+
<child link="overhead_zed_camera_link" />
|
| 54 |
+
</joint>
|
| 55 |
+
|
| 56 |
+
<!-- Overhead Camera Center -->
|
| 57 |
+
<link name="overhead_zed_camera_center">
|
| 58 |
+
<visual>
|
| 59 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0 0.0"/>
|
| 60 |
+
<geometry>
|
| 61 |
+
<mesh filename="meshes/zed2i.stl"/>
|
| 62 |
+
</geometry>
|
| 63 |
+
<material name="zed2i_mat"/>
|
| 64 |
+
</visual>
|
| 65 |
+
<collision>
|
| 66 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0 0.0"/>
|
| 67 |
+
<geometry>
|
| 68 |
+
<mesh filename="meshes/zed2i.stl"/>
|
| 69 |
+
</geometry>
|
| 70 |
+
</collision>
|
| 71 |
+
</link>
|
| 72 |
+
<joint name="overhead_zed_camera_link_to_camera_center" type="fixed">
|
| 73 |
+
<parent link="overhead_zed_camera_link"/>
|
| 74 |
+
<child link="overhead_zed_camera_center"/>
|
| 75 |
+
<origin rpy="0 0 0" xyz="0 0 0.015"/>
|
| 76 |
+
</joint>
|
| 77 |
+
|
| 78 |
+
<!-- Overhead Left Camera -->
|
| 79 |
+
<link name="overhead_zed_left_camera_frame"/>
|
| 80 |
+
<joint name="overhead_zed_camera_center_to_left_camera_frame" type="fixed">
|
| 81 |
+
<parent link="overhead_zed_camera_center"/>
|
| 82 |
+
<child link="overhead_zed_left_camera_frame"/>
|
| 83 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0.0 0.06"/>
|
| 84 |
+
</joint>
|
| 85 |
+
|
| 86 |
+
<link name="overhead_zed_left_camera_optical_frame"/>
|
| 87 |
+
<joint name="overhead_zed_left_camera_frame_to_optical_frame" type="fixed">
|
| 88 |
+
<origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
|
| 89 |
+
<parent link="overhead_zed_left_camera_frame"/>
|
| 90 |
+
<child link="overhead_zed_left_camera_optical_frame"/>
|
| 91 |
+
</joint>
|
| 92 |
+
|
| 93 |
+
<!-- Overhead Right Camera -->
|
| 94 |
+
<link name="overhead_zed_right_camera_frame"/>
|
| 95 |
+
<joint name="overhead_zed_camera_center_to_right_camera_frame" type="fixed">
|
| 96 |
+
<parent link="overhead_zed_camera_center"/>
|
| 97 |
+
<child link="overhead_zed_right_camera_frame"/>
|
| 98 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0 -0.06"/>
|
| 99 |
+
</joint>
|
| 100 |
+
|
| 101 |
+
<link name="overhead_zed_right_camera_optical_frame"/>
|
| 102 |
+
<joint name="overhead_zed_right_camera_frame_to_optical_frame" type="fixed">
|
| 103 |
+
<origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
|
| 104 |
+
<parent link="overhead_zed_right_camera_frame"/>
|
| 105 |
+
<child link="overhead_zed_right_camera_optical_frame"/>
|
| 106 |
+
</joint>
|
| 107 |
+
|
| 108 |
+
<!-- Overhead Depth Camera -->
|
| 109 |
+
<link name="overhead_zed_depth_camera_frame"/>
|
| 110 |
+
<joint name="overhead_zed_camera_center_to_depth_camera_frame" type="fixed">
|
| 111 |
+
<parent link="overhead_zed_camera_center"/>
|
| 112 |
+
<child link="overhead_zed_depth_camera_frame"/>
|
| 113 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0.0 0.06"/>
|
| 114 |
+
</joint>
|
| 115 |
+
|
| 116 |
+
<link name="overhead_zed_depth_camera_optical_frame"/>
|
| 117 |
+
<joint name="overhead_zed_depth_camera_frame_to_optical_frame" type="fixed">
|
| 118 |
+
<origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
|
| 119 |
+
<parent link="overhead_zed_depth_camera_frame"/>
|
| 120 |
+
<child link="overhead_zed_depth_camera_optical_frame"/>
|
| 121 |
+
</joint>
|
| 122 |
+
|
| 123 |
+
<!-- Left Arm Base Attachment -->
|
| 124 |
+
<joint name="world_to_left_base" type="fixed">
|
| 125 |
+
<origin xyz="-0.5425 0.38 0" rpy="0 0 0" />
|
| 126 |
+
<parent link="world" />
|
| 127 |
+
<child link="L_link_base" />
|
| 128 |
+
</joint>
|
| 129 |
+
|
| 130 |
+
<!-- Right Arm Base Attachment -->
|
| 131 |
+
<joint name="world_to_right_base" type="fixed">
|
| 132 |
+
<origin xyz="0.5425 .38 0" rpy="0 0 3.141592653589793" />
|
| 133 |
+
<parent link="world" />
|
| 134 |
+
<child link="R_link_base" />
|
| 135 |
+
</joint>
|
| 136 |
+
|
| 137 |
+
<!--Left robot arm-->
|
| 138 |
+
|
| 139 |
+
<!-- Link Base -->
|
| 140 |
+
<link name="L_link_base">
|
| 141 |
+
<inertial>
|
| 142 |
+
<origin xyz="-0.021131 -0.0016302 0.056488" rpy="0 0 0" />
|
| 143 |
+
<mass value="0.88556" />
|
| 144 |
+
<inertia
|
| 145 |
+
ixx="0.0030595" ixy="0.00012259" ixz="-0.00062705"
|
| 146 |
+
iyy="0.0037783" iyz="0.00027023" izz="0.0020125" />
|
| 147 |
+
</inertial>
|
| 148 |
+
<visual>
|
| 149 |
+
<geometry>
|
| 150 |
+
<mesh filename="meshes/xarm7/visual/link_base.stl"/>
|
| 151 |
+
</geometry>
|
| 152 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 153 |
+
<material name="White" />
|
| 154 |
+
</visual>
|
| 155 |
+
<collision>
|
| 156 |
+
<geometry>
|
| 157 |
+
<mesh filename="meshes/xarm7/visual/link_base.stl"/>
|
| 158 |
+
</geometry>
|
| 159 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 160 |
+
</collision>
|
| 161 |
+
</link>
|
| 162 |
+
|
| 163 |
+
<!-- Link 1 -->
|
| 164 |
+
<link name="L_link1">
|
| 165 |
+
<inertial>
|
| 166 |
+
<origin xyz="-0.0002 0.02905 -0.01233" rpy="0 0 0" />
|
| 167 |
+
<mass value="2.382" />
|
| 168 |
+
<inertia
|
| 169 |
+
ixx="0.0056905" ixy="-1.579e-05" ixz="5.125e-06"
|
| 170 |
+
iyy="0.0049566" iyz="-0.000873378" izz="0.003316654" />
|
| 171 |
+
</inertial>
|
| 172 |
+
<visual>
|
| 173 |
+
<geometry>
|
| 174 |
+
<mesh filename="meshes/xarm7/visual/link1.stl"/>
|
| 175 |
+
</geometry>
|
| 176 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 177 |
+
<material name="White" />
|
| 178 |
+
</visual>
|
| 179 |
+
<collision>
|
| 180 |
+
<geometry>
|
| 181 |
+
<mesh filename="meshes/xarm7/visual/link1.stl"/>
|
| 182 |
+
</geometry>
|
| 183 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 184 |
+
</collision>
|
| 185 |
+
</link>
|
| 186 |
+
|
| 187 |
+
<!-- Joint 1 -->
|
| 188 |
+
<joint name="L_joint1" type="revolute">
|
| 189 |
+
<origin xyz="0 0 0.267" rpy="0 0 0" />
|
| 190 |
+
<parent link="L_link_base" />
|
| 191 |
+
<child link="L_link1" />
|
| 192 |
+
<axis xyz="0 0 1" />
|
| 193 |
+
<limit
|
| 194 |
+
lower="-6.283185307"
|
| 195 |
+
upper="6.283185307"
|
| 196 |
+
effort="50"
|
| 197 |
+
velocity="3.14" />
|
| 198 |
+
<dynamics damping="10" friction="1" />
|
| 199 |
+
</joint>
|
| 200 |
+
|
| 201 |
+
<!-- Link 2 -->
|
| 202 |
+
<link name="L_link2">
|
| 203 |
+
<inertial>
|
| 204 |
+
<origin xyz="0.00022 -0.12856 0.01735" rpy="0 0 0" />
|
| 205 |
+
<mass value="1.869" />
|
| 206 |
+
<inertia
|
| 207 |
+
ixx="0.0095989" ixy="1.541e-06" ixz="5.56e-06"
|
| 208 |
+
iyy="0.00382472" iyz="-0.00317156" izz="0.007565669" />
|
| 209 |
+
</inertial>
|
| 210 |
+
<visual>
|
| 211 |
+
<geometry>
|
| 212 |
+
<mesh filename="meshes/xarm7/visual/link2.stl"/>
|
| 213 |
+
</geometry>
|
| 214 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 215 |
+
<material name="White" />
|
| 216 |
+
</visual>
|
| 217 |
+
<collision>
|
| 218 |
+
<geometry>
|
| 219 |
+
<mesh filename="meshes/xarm7/visual/link2.stl"/>
|
| 220 |
+
</geometry>
|
| 221 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 222 |
+
</collision>
|
| 223 |
+
</link>
|
| 224 |
+
|
| 225 |
+
<!-- Joint 2 -->
|
| 226 |
+
<joint name="L_joint2" type="revolute">
|
| 227 |
+
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
|
| 228 |
+
<parent link="L_link1" />
|
| 229 |
+
<child link="L_link2" />
|
| 230 |
+
<axis xyz="0 0 1" />
|
| 231 |
+
<limit
|
| 232 |
+
lower="-2.059"
|
| 233 |
+
upper="2.0944"
|
| 234 |
+
effort="50"
|
| 235 |
+
velocity="3.14" />
|
| 236 |
+
<dynamics damping="10" friction="1" />
|
| 237 |
+
</joint>
|
| 238 |
+
|
| 239 |
+
<!-- Link 3 -->
|
| 240 |
+
<link name="L_link3">
|
| 241 |
+
<inertial>
|
| 242 |
+
<origin xyz="0.0466 -0.02463 -0.00768" rpy="0 0 0" />
|
| 243 |
+
<mass value="1.6383" />
|
| 244 |
+
<inertia
|
| 245 |
+
ixx="0.00310955" ixy="0.00030837" ixz="-0.00058453"
|
| 246 |
+
iyy="0.00264483" iyz="0.000338893" izz="0.0026624" />
|
| 247 |
+
</inertial>
|
| 248 |
+
<visual>
|
| 249 |
+
<geometry>
|
| 250 |
+
<mesh filename="meshes/xarm7/visual/link3.stl"/>
|
| 251 |
+
</geometry>
|
| 252 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 253 |
+
<material name="White" />
|
| 254 |
+
</visual>
|
| 255 |
+
<collision>
|
| 256 |
+
<geometry>
|
| 257 |
+
<mesh filename="meshes/xarm7/visual/link3.stl"/>
|
| 258 |
+
</geometry>
|
| 259 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 260 |
+
</collision>
|
| 261 |
+
</link>
|
| 262 |
+
|
| 263 |
+
<!-- Joint 3 -->
|
| 264 |
+
<joint name="L_joint3" type="revolute">
|
| 265 |
+
<origin xyz="0 -0.293 0" rpy="1.5708 0 0" />
|
| 266 |
+
<parent link="L_link2" />
|
| 267 |
+
<child link="L_link3" />
|
| 268 |
+
<axis xyz="0 0 1" />
|
| 269 |
+
<limit
|
| 270 |
+
lower="-6.283185307"
|
| 271 |
+
upper="6.283185307"
|
| 272 |
+
effort="30"
|
| 273 |
+
velocity="3.14" />
|
| 274 |
+
<dynamics damping="5" friction="1" />
|
| 275 |
+
</joint>
|
| 276 |
+
|
| 277 |
+
<!-- Link 4 -->
|
| 278 |
+
<link name="L_link4">
|
| 279 |
+
<inertial>
|
| 280 |
+
<origin xyz="0.07047 -0.11575 0.012" rpy="0 0 0" />
|
| 281 |
+
<mass value="1.7269" />
|
| 282 |
+
<inertia
|
| 283 |
+
ixx="0.005889" ixy="0.00137112" ixz="0.00088143"
|
| 284 |
+
iyy="0.00359703" iyz="-0.001762155" izz="0.00543244" />
|
| 285 |
+
</inertial>
|
| 286 |
+
<visual>
|
| 287 |
+
<geometry>
|
| 288 |
+
<mesh filename="meshes/xarm7/visual/link4.stl"/>
|
| 289 |
+
</geometry>
|
| 290 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 291 |
+
<material name="White" />
|
| 292 |
+
</visual>
|
| 293 |
+
<collision>
|
| 294 |
+
<geometry>
|
| 295 |
+
<mesh filename="meshes/xarm7/visual/link4.stl"/>
|
| 296 |
+
</geometry>
|
| 297 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 298 |
+
</collision>
|
| 299 |
+
</link>
|
| 300 |
+
|
| 301 |
+
<!-- Joint 4 -->
|
| 302 |
+
<joint name="L_joint4" type="revolute">
|
| 303 |
+
<origin xyz="0.0525 0 0" rpy="1.5708 0 0" />
|
| 304 |
+
<parent link="L_link3" />
|
| 305 |
+
<child link="L_link4" />
|
| 306 |
+
<axis xyz="0 0 1" />
|
| 307 |
+
<limit
|
| 308 |
+
lower="-0.19198"
|
| 309 |
+
upper="3.927"
|
| 310 |
+
effort="30"
|
| 311 |
+
velocity="3.14" />
|
| 312 |
+
<dynamics damping="5" friction="1" />
|
| 313 |
+
</joint>
|
| 314 |
+
|
| 315 |
+
<!-- Link 5 -->
|
| 316 |
+
<link name="L_link5">
|
| 317 |
+
<inertial>
|
| 318 |
+
<origin xyz="-0.00032 0.01604 -0.026" rpy="0 0 0" />
|
| 319 |
+
<mass value="1.3203" />
|
| 320 |
+
<inertia
|
| 321 |
+
ixx="0.00534665" ixy="1.5117e-05" ixz="-3.69e-07"
|
| 322 |
+
iyy="0.0049779" iyz="-0.00022132" izz="0.0013624" />
|
| 323 |
+
</inertial>
|
| 324 |
+
<visual>
|
| 325 |
+
<geometry>
|
| 326 |
+
<mesh filename="meshes/xarm7/visual/link5.stl"/>
|
| 327 |
+
</geometry>
|
| 328 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 329 |
+
<material name="White" />
|
| 330 |
+
</visual>
|
| 331 |
+
<collision>
|
| 332 |
+
<geometry>
|
| 333 |
+
<mesh filename="meshes/xarm7/visual/link5.stl"/>
|
| 334 |
+
</geometry>
|
| 335 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 336 |
+
</collision>
|
| 337 |
+
</link>
|
| 338 |
+
|
| 339 |
+
<!-- Joint 5 -->
|
| 340 |
+
<joint name="L_joint5" type="revolute">
|
| 341 |
+
<origin xyz="0.0775 -0.3425 0" rpy="1.5708 0 0" />
|
| 342 |
+
<parent link="L_link4" />
|
| 343 |
+
<child link="L_link5" />
|
| 344 |
+
<axis xyz="0 0 1" />
|
| 345 |
+
<limit
|
| 346 |
+
lower="-6.283185307"
|
| 347 |
+
upper="6.283185307"
|
| 348 |
+
effort="30"
|
| 349 |
+
velocity="3.14" />
|
| 350 |
+
<dynamics damping="5" friction="1" />
|
| 351 |
+
</joint>
|
| 352 |
+
|
| 353 |
+
<!-- Link 6 -->
|
| 354 |
+
<link name="L_link6">
|
| 355 |
+
<inertial>
|
| 356 |
+
<origin xyz="0.06469 0.03278 0.02141" rpy="0 0 0" />
|
| 357 |
+
<mass value="1.325" />
|
| 358 |
+
<inertia
|
| 359 |
+
ixx="0.0014745" ixy="-0.000488" ixz="0.0002953"
|
| 360 |
+
iyy="0.0019037" iyz="0.00014749" izz="0.0023652" />
|
| 361 |
+
</inertial>
|
| 362 |
+
<visual>
|
| 363 |
+
<geometry>
|
| 364 |
+
<mesh filename="meshes/xarm7/visual/link6.stl"/>
|
| 365 |
+
</geometry>
|
| 366 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 367 |
+
<material name="White" />
|
| 368 |
+
</visual>
|
| 369 |
+
<collision>
|
| 370 |
+
<geometry>
|
| 371 |
+
<mesh filename="meshes/xarm7/visual/link6.stl"/>
|
| 372 |
+
</geometry>
|
| 373 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 374 |
+
</collision>
|
| 375 |
+
</link>
|
| 376 |
+
|
| 377 |
+
<!-- Joint 6 -->
|
| 378 |
+
<joint name="L_joint6" type="revolute">
|
| 379 |
+
<origin xyz="0 0 0" rpy="1.5708 0 0" />
|
| 380 |
+
<parent link="L_link5" />
|
| 381 |
+
<child link="L_link6" />
|
| 382 |
+
<axis xyz="0 0 1" />
|
| 383 |
+
<limit
|
| 384 |
+
lower="-1.69297"
|
| 385 |
+
upper="3.14159265359"
|
| 386 |
+
effort="20"
|
| 387 |
+
velocity="3.14" />
|
| 388 |
+
<dynamics damping="2" friction="1" />
|
| 389 |
+
</joint>
|
| 390 |
+
|
| 391 |
+
<!-- Link 7 -->
|
| 392 |
+
<link name="L_link7">
|
| 393 |
+
<inertial>
|
| 394 |
+
<origin xyz="0 -0.00677 -0.01098" rpy="0 0 0" />
|
| 395 |
+
<mass value="0.17" />
|
| 396 |
+
<inertia
|
| 397 |
+
ixx="9.3e-05" ixy="0.0" ixz="0.0"
|
| 398 |
+
iyy="5.87e-05" iyz="-3.6e-06" izz="0.000132" />
|
| 399 |
+
</inertial>
|
| 400 |
+
<visual>
|
| 401 |
+
<geometry>
|
| 402 |
+
<mesh filename="meshes/xarm7/visual/link7.stl"/>
|
| 403 |
+
</geometry>
|
| 404 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 405 |
+
<material name="Silver" />
|
| 406 |
+
</visual>
|
| 407 |
+
<collision>
|
| 408 |
+
<geometry>
|
| 409 |
+
<mesh filename="meshes/end_tool/collision/end_tool.stl"/>
|
| 410 |
+
</geometry>
|
| 411 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 412 |
+
</collision>
|
| 413 |
+
</link>
|
| 414 |
+
|
| 415 |
+
<!-- Joint 7 -->
|
| 416 |
+
<joint name="L_joint7" type="revolute">
|
| 417 |
+
<origin xyz="0.076 0.097 0" rpy="-1.5708 0 0" />
|
| 418 |
+
<parent link="L_link6" />
|
| 419 |
+
<child link="L_link7" />
|
| 420 |
+
<axis xyz="0 0 1" />
|
| 421 |
+
<limit
|
| 422 |
+
lower="-6.283185307"
|
| 423 |
+
upper="6.283185307"
|
| 424 |
+
effort="20"
|
| 425 |
+
velocity="3.14" />
|
| 426 |
+
<dynamics damping="2" friction="1" />
|
| 427 |
+
</joint>
|
| 428 |
+
|
| 429 |
+
<link name="L_link_eef"/>
|
| 430 |
+
<!-- Gripper attachment joint -->
|
| 431 |
+
<joint name="attachment_L_eef" type="fixed">
|
| 432 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 433 |
+
<parent link="L_link7" />
|
| 434 |
+
<child link="L_link_eef" />
|
| 435 |
+
</joint>
|
| 436 |
+
|
| 437 |
+
<joint name="attachment_L_xarm_gripper" type="fixed">
|
| 438 |
+
<origin xyz="0 0 0.005" rpy="0 0 0" />
|
| 439 |
+
<parent link="L_link_eef" />
|
| 440 |
+
<child link="L_xarm_gripper_base_link" />
|
| 441 |
+
</joint>
|
| 442 |
+
|
| 443 |
+
<!-- XArm Gripper Links and Joints -->
|
| 444 |
+
<link name="L_xarm_gripper_base_link">
|
| 445 |
+
<inertial>
|
| 446 |
+
<origin rpy="0 0 0" xyz="-0.00065489 -0.0018497 0.048028"/>
|
| 447 |
+
<mass value="0.54156"/>
|
| 448 |
+
<inertia ixx="0.00047106" ixy="3.9292E-07" ixz="2.6537E-06" iyy="0.00033072" iyz="-1.0975E-05" izz="0.00025642"/>
|
| 449 |
+
</inertial>
|
| 450 |
+
<visual>
|
| 451 |
+
<geometry>
|
| 452 |
+
<mesh filename="meshes/gripper/xarm/base_link.stl"/>
|
| 453 |
+
</geometry>
|
| 454 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 455 |
+
<material name="White"/>
|
| 456 |
+
</visual>
|
| 457 |
+
<collision>
|
| 458 |
+
<geometry>
|
| 459 |
+
<mesh filename="meshes/gripper/xarm/base_link.stl"/>
|
| 460 |
+
</geometry>
|
| 461 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 462 |
+
</collision>
|
| 463 |
+
</link>
|
| 464 |
+
|
| 465 |
+
<link name="L_left_outer_knuckle">
|
| 466 |
+
<inertial>
|
| 467 |
+
<origin rpy="0 0 0" xyz="2.9948E-14 0.021559 0.015181"/>
|
| 468 |
+
<mass value="0.033618"/>
|
| 469 |
+
<inertia ixx="1.9111E-05" ixy="-1.8803E-17" ixz="-1.1002E-17" iyy="6.6256E-06" iyz="-7.3008E-06" izz="1.3185E-05"/>
|
| 470 |
+
</inertial>
|
| 471 |
+
<visual>
|
| 472 |
+
<geometry>
|
| 473 |
+
<mesh filename="meshes/gripper/xarm/left_outer_knuckle.stl"/>
|
| 474 |
+
</geometry>
|
| 475 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 476 |
+
<material name="Silver"/>
|
| 477 |
+
</visual>
|
| 478 |
+
<collision>
|
| 479 |
+
<geometry>
|
| 480 |
+
<mesh filename="meshes/gripper/xarm/left_outer_knuckle.stl"/>
|
| 481 |
+
</geometry>
|
| 482 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 483 |
+
</collision>
|
| 484 |
+
</link>
|
| 485 |
+
|
| 486 |
+
<joint name="L_drive_joint" type="revolute">
|
| 487 |
+
<origin rpy="0 0 0" xyz="0 0.035 0.059098"/>
|
| 488 |
+
<parent link="L_xarm_gripper_base_link"/>
|
| 489 |
+
<child link="L_left_outer_knuckle"/>
|
| 490 |
+
<axis xyz="1 0 0"/>
|
| 491 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 492 |
+
<dynamics damping="1" friction="1" />
|
| 493 |
+
</joint>
|
| 494 |
+
|
| 495 |
+
<link name="L_left_finger">
|
| 496 |
+
<inertial>
|
| 497 |
+
<origin rpy="0 0 0" xyz="-2.4536E-14 -0.016413 0.029258"/>
|
| 498 |
+
<mass value="0.048304"/>
|
| 499 |
+
<inertia ixx="1.7493E-05" ixy="-4.2156E-19" ixz="6.9164E-18" iyy="1.7225E-05" iyz="4.6433E-06" izz="5.1466E-06"/>
|
| 500 |
+
</inertial>
|
| 501 |
+
<visual>
|
| 502 |
+
<geometry>
|
| 503 |
+
<mesh filename="meshes/gripper/xarm/left_finger.stl"/>
|
| 504 |
+
</geometry>
|
| 505 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 506 |
+
<material name="Silver"/>
|
| 507 |
+
</visual>
|
| 508 |
+
<collision>
|
| 509 |
+
<geometry>
|
| 510 |
+
<mesh filename="meshes/gripper/xarm/left_finger.stl"/>
|
| 511 |
+
</geometry>
|
| 512 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 513 |
+
</collision>
|
| 514 |
+
</link>
|
| 515 |
+
|
| 516 |
+
<joint name="L_left_finger_joint" type="revolute">
|
| 517 |
+
<origin rpy="0 0 0" xyz="0 0.035465 0.042039"/>
|
| 518 |
+
<parent link="L_left_outer_knuckle"/>
|
| 519 |
+
<child link="L_left_finger"/>
|
| 520 |
+
<axis xyz="-1 0 0"/>
|
| 521 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 522 |
+
<mimic joint="L_drive_joint" multiplier="1" offset="0"/>
|
| 523 |
+
<dynamics damping="1" friction="1" />
|
| 524 |
+
</joint>
|
| 525 |
+
|
| 526 |
+
<link name="L_left_inner_knuckle">
|
| 527 |
+
<inertial>
|
| 528 |
+
<origin rpy="0 0 0" xyz="1.86600784687907E-06 0.0220467847633621 0.0261334672830885"/>
|
| 529 |
+
<mass value="0.0230125781256706"/>
|
| 530 |
+
<inertia ixx="6.09490024271906E-06" ixy="6.06651326160071E-11" ixz="7.19102670500635E-11" iyy="6.01955084375188E-06" iyz="-2.75316812991721E-06" izz="5.07862004479903E-06"/>
|
| 531 |
+
</inertial>
|
| 532 |
+
<visual>
|
| 533 |
+
<geometry>
|
| 534 |
+
<mesh filename="meshes/gripper/xarm/left_inner_knuckle.stl"/>
|
| 535 |
+
</geometry>
|
| 536 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 537 |
+
<material name="Silver"/>
|
| 538 |
+
</visual>
|
| 539 |
+
<collision>
|
| 540 |
+
<geometry>
|
| 541 |
+
<mesh filename="meshes/gripper/xarm/left_inner_knuckle.stl"/>
|
| 542 |
+
</geometry>
|
| 543 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 544 |
+
</collision>
|
| 545 |
+
</link>
|
| 546 |
+
|
| 547 |
+
<joint name="L_left_inner_knuckle_joint" type="revolute">
|
| 548 |
+
<origin rpy="0 0 0" xyz="0 0.02 0.074098"/>
|
| 549 |
+
<parent link="L_xarm_gripper_base_link"/>
|
| 550 |
+
<child link="L_left_inner_knuckle"/>
|
| 551 |
+
<axis xyz="1 0 0"/>
|
| 552 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 553 |
+
<mimic joint="L_drive_joint" multiplier="1" offset="0"/>
|
| 554 |
+
<dynamics damping="1" friction="1" />
|
| 555 |
+
</joint>
|
| 556 |
+
|
| 557 |
+
<link name="L_right_outer_knuckle">
|
| 558 |
+
<inertial>
|
| 559 |
+
<origin rpy="0 0 0" xyz="-3.1669E-14 -0.021559 0.015181"/>
|
| 560 |
+
<mass value="0.033618"/>
|
| 561 |
+
<inertia ixx="1.9111E-05" ixy="-1.8789E-17" ixz="1.0986E-17" iyy="6.6256E-06" iyz="7.3008E-06" izz="1.3185E-05"/>
|
| 562 |
+
</inertial>
|
| 563 |
+
<visual>
|
| 564 |
+
<geometry>
|
| 565 |
+
<mesh filename="meshes/gripper/xarm/right_outer_knuckle.stl"/>
|
| 566 |
+
</geometry>
|
| 567 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 568 |
+
<material name="Silver"/>
|
| 569 |
+
</visual>
|
| 570 |
+
<collision>
|
| 571 |
+
<geometry>
|
| 572 |
+
<mesh filename="meshes/gripper/xarm/right_outer_knuckle.stl"/>
|
| 573 |
+
</geometry>
|
| 574 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 575 |
+
</collision>
|
| 576 |
+
</link>
|
| 577 |
+
|
| 578 |
+
<joint name="L_right_outer_knuckle_joint" type="revolute">
|
| 579 |
+
<origin rpy="0 0 0" xyz="0 -0.035 0.059098"/>
|
| 580 |
+
<parent link="L_xarm_gripper_base_link"/>
|
| 581 |
+
<child link="L_right_outer_knuckle"/>
|
| 582 |
+
<axis xyz="-1 0 0"/>
|
| 583 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 584 |
+
<mimic joint="L_drive_joint" multiplier="1" offset="0"/>
|
| 585 |
+
<dynamics damping="1" friction="1" />
|
| 586 |
+
</joint>
|
| 587 |
+
|
| 588 |
+
<link name="L_right_finger">
|
| 589 |
+
<inertial>
|
| 590 |
+
<origin rpy="0 0 0" xyz="2.5618E-14 0.016413 0.029258"/>
|
| 591 |
+
<mass value="0.048304"/>
|
| 592 |
+
<inertia ixx="1.7493E-05" ixy="-5.0014E-19" ixz="-7.5079E-18" iyy="1.7225E-05" iyz="-4.6435E-06" izz="5.1466E-06"/>
|
| 593 |
+
</inertial>
|
| 594 |
+
<visual>
|
| 595 |
+
<geometry>
|
| 596 |
+
<mesh filename="meshes/gripper/xarm/right_finger.stl"/>
|
| 597 |
+
</geometry>
|
| 598 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 599 |
+
<material name="Silver"/>
|
| 600 |
+
</visual>
|
| 601 |
+
<collision>
|
| 602 |
+
<geometry>
|
| 603 |
+
<mesh filename="meshes/gripper/xarm/right_finger.stl"/>
|
| 604 |
+
</geometry>
|
| 605 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 606 |
+
</collision>
|
| 607 |
+
</link>
|
| 608 |
+
|
| 609 |
+
<joint name="L_right_finger_joint" type="revolute">
|
| 610 |
+
<origin rpy="0 0 0" xyz="0 -0.035465 0.042039"/>
|
| 611 |
+
<parent link="L_right_outer_knuckle"/>
|
| 612 |
+
<child link="L_right_finger"/>
|
| 613 |
+
<axis xyz="1 0 0"/>
|
| 614 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 615 |
+
<mimic joint="L_drive_joint" multiplier="1" offset="0"/>
|
| 616 |
+
<dynamics damping="1" friction="1" />
|
| 617 |
+
</joint>
|
| 618 |
+
|
| 619 |
+
<link name="L_right_inner_knuckle">
|
| 620 |
+
<inertial>
|
| 621 |
+
<origin rpy="0 0 0" xyz="1.866E-06 -0.022047 0.026133"/>
|
| 622 |
+
<mass value="0.023013"/>
|
| 623 |
+
<inertia ixx="6.0949E-06" ixy="-6.0665E-11" ixz="7.191E-11" iyy="6.0197E-06" iyz="2.7531E-06" izz="5.0784E-06"/>
|
| 624 |
+
</inertial>
|
| 625 |
+
<visual>
|
| 626 |
+
<geometry>
|
| 627 |
+
<mesh filename="meshes/gripper/xarm/right_inner_knuckle.stl"/>
|
| 628 |
+
</geometry>
|
| 629 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 630 |
+
<material name="Silver"/>
|
| 631 |
+
</visual>
|
| 632 |
+
<collision>
|
| 633 |
+
<geometry>
|
| 634 |
+
<mesh filename="meshes/gripper/xarm/right_inner_knuckle.stl"/>
|
| 635 |
+
</geometry>
|
| 636 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 637 |
+
</collision>
|
| 638 |
+
</link>
|
| 639 |
+
|
| 640 |
+
<joint name="L_right_inner_knuckle_joint" type="revolute">
|
| 641 |
+
<origin rpy="0 0 0" xyz="0 -0.02 0.074098"/>
|
| 642 |
+
<parent link="L_xarm_gripper_base_link"/>
|
| 643 |
+
<child link="L_right_inner_knuckle"/>
|
| 644 |
+
<axis xyz="-1 0 0"/>
|
| 645 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 646 |
+
<mimic joint="L_drive_joint" multiplier="1" offset="0"/>
|
| 647 |
+
<dynamics damping="1" friction="1" />
|
| 648 |
+
</joint>
|
| 649 |
+
|
| 650 |
+
<!-- ================= ZED CAMERA MOUNT ================= -->
|
| 651 |
+
<link name="L_zed_camera_mount_link">
|
| 652 |
+
<visual>
|
| 653 |
+
<origin xyz="0 0 0" rpy="0 3.14159265 1.570796"/>
|
| 654 |
+
<geometry>
|
| 655 |
+
<mesh filename="meshes/zed_camera_mount_xarm.stl"/>
|
| 656 |
+
</geometry>
|
| 657 |
+
<material name="Silver"/>
|
| 658 |
+
</visual>
|
| 659 |
+
</link>
|
| 660 |
+
<joint name="L_zed_camera_mount_joint" type="fixed">
|
| 661 |
+
<parent link="L_link_eef"/>
|
| 662 |
+
<child link="L_zed_camera_mount_link"/>
|
| 663 |
+
<origin xyz="0.0 0 0.0" rpy="0 0 0"/>
|
| 664 |
+
</joint>
|
| 665 |
+
|
| 666 |
+
<!-- ================= ZED CAMERA INTEGRATION ================= -->
|
| 667 |
+
<joint name="L_zed_mount_joint" type="fixed">
|
| 668 |
+
<parent link="L_zed_camera_mount_link"/>
|
| 669 |
+
<child link="L_zed_camera_link"/>
|
| 670 |
+
<origin xyz="0.0726 0 0.0295" rpy="0 -1.04719 3.141596"/>
|
| 671 |
+
</joint>
|
| 672 |
+
|
| 673 |
+
<!-- Camera mounting point (the threaded screw hole in the bottom) -->
|
| 674 |
+
<link name="L_zed_camera_link"/>
|
| 675 |
+
|
| 676 |
+
<!-- Camera Center -->
|
| 677 |
+
<link name="L_zed_camera_center">
|
| 678 |
+
<visual>
|
| 679 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0 0.0"/>
|
| 680 |
+
<geometry>
|
| 681 |
+
<mesh filename="meshes/zed2i.stl"/>
|
| 682 |
+
</geometry>
|
| 683 |
+
<material name="zed2i_mat"/>
|
| 684 |
+
</visual>
|
| 685 |
+
<collision>
|
| 686 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0 0.0"/>
|
| 687 |
+
<geometry>
|
| 688 |
+
<mesh filename="meshes/zed2i.stl"/>
|
| 689 |
+
</geometry>
|
| 690 |
+
</collision>
|
| 691 |
+
</link>
|
| 692 |
+
<joint name="L_zed_camera_center_joint" type="fixed">
|
| 693 |
+
<parent link="L_zed_camera_link"/>
|
| 694 |
+
<child link="L_zed_camera_center"/>
|
| 695 |
+
<origin rpy="-1.5707963267948966 0.0 0" xyz="0 0 0.015"/>
|
| 696 |
+
</joint>
|
| 697 |
+
|
| 698 |
+
<!-- Left Camera -->
|
| 699 |
+
<link name="L_zed_left_camera_frame"/>
|
| 700 |
+
<joint name="L_zed_left_camera_joint" type="fixed">
|
| 701 |
+
<parent link="L_zed_camera_center"/>
|
| 702 |
+
<child link="L_zed_left_camera_frame"/>
|
| 703 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0.0 0.06"/>
|
| 704 |
+
</joint>
|
| 705 |
+
|
| 706 |
+
<link name="L_zed_left_camera_optical_frame"/>
|
| 707 |
+
<joint name="L_zed_left_camera_optical_joint" type="fixed">
|
| 708 |
+
<origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
|
| 709 |
+
<parent link="L_zed_left_camera_frame"/>
|
| 710 |
+
<child link="L_zed_left_camera_optical_frame"/>
|
| 711 |
+
</joint>
|
| 712 |
+
|
| 713 |
+
<!-- Right Camera -->
|
| 714 |
+
<link name="L_zed_right_camera_frame"/>
|
| 715 |
+
<joint name="L_zed_right_camera_joint" type="fixed">
|
| 716 |
+
<parent link="L_zed_camera_center"/>
|
| 717 |
+
<child link="L_zed_right_camera_frame"/>
|
| 718 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0 -0.06"/>
|
| 719 |
+
</joint>
|
| 720 |
+
|
| 721 |
+
<link name="L_zed_right_camera_optical_frame"/>
|
| 722 |
+
<joint name="L_zed_right_camera_optical_joint" type="fixed">
|
| 723 |
+
<origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
|
| 724 |
+
<parent link="L_zed_right_camera_frame"/>
|
| 725 |
+
<child link="L_zed_right_camera_optical_frame"/>
|
| 726 |
+
</joint>
|
| 727 |
+
|
| 728 |
+
<!-- Depth Camera -->
|
| 729 |
+
<link name="L_zed_depth_camera_frame"/>
|
| 730 |
+
<joint name="L_zed_depth_camera_joint" type="fixed">
|
| 731 |
+
<parent link="L_zed_camera_center"/>
|
| 732 |
+
<child link="L_zed_depth_camera_frame"/>
|
| 733 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0.0 0.06"/> <!-- this is the same as left camera , standard convention-->
|
| 734 |
+
</joint>
|
| 735 |
+
|
| 736 |
+
<link name="L_zed_depth_camera_optical_frame"/>
|
| 737 |
+
<joint name="L_zed_depth_camera_optical_joint" type="fixed">
|
| 738 |
+
<origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
|
| 739 |
+
<parent link="L_zed_depth_camera_frame"/>
|
| 740 |
+
<child link="L_zed_depth_camera_optical_frame"/>
|
| 741 |
+
</joint>
|
| 742 |
+
|
| 743 |
+
<!--Right robot arm-->
|
| 744 |
+
|
| 745 |
+
<!-- Link Base -->
|
| 746 |
+
<link name="R_link_base">
|
| 747 |
+
<inertial>
|
| 748 |
+
<origin xyz="-0.021131 -0.0016302 0.056488" rpy="0 0 0" />
|
| 749 |
+
<mass value="0.88556" />
|
| 750 |
+
<inertia
|
| 751 |
+
ixx="0.0030595" ixy="0.00012259" ixz="-0.00062705"
|
| 752 |
+
iyy="0.0037783" iyz="0.00027023" izz="0.0020125" />
|
| 753 |
+
</inertial>
|
| 754 |
+
<visual>
|
| 755 |
+
<geometry>
|
| 756 |
+
<mesh filename="meshes/xarm7/visual/link_base.stl"/>
|
| 757 |
+
</geometry>
|
| 758 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 759 |
+
<material name="White" />
|
| 760 |
+
</visual>
|
| 761 |
+
<collision>
|
| 762 |
+
<geometry>
|
| 763 |
+
<mesh filename="meshes/xarm7/visual/link_base.stl"/>
|
| 764 |
+
</geometry>
|
| 765 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 766 |
+
</collision>
|
| 767 |
+
</link>
|
| 768 |
+
|
| 769 |
+
<!-- Link 1 -->
|
| 770 |
+
<link name="R_link1">
|
| 771 |
+
<inertial>
|
| 772 |
+
<origin xyz="-0.0002 0.02905 -0.01233" rpy="0 0 0" />
|
| 773 |
+
<mass value="2.382" />
|
| 774 |
+
<inertia
|
| 775 |
+
ixx="0.0056905" ixy="-1.579e-05" ixz="5.125e-06"
|
| 776 |
+
iyy="0.0049566" iyz="-0.000873378" izz="0.003316654" />
|
| 777 |
+
</inertial>
|
| 778 |
+
<visual>
|
| 779 |
+
<geometry>
|
| 780 |
+
<mesh filename="meshes/xarm7/visual/link1.stl"/>
|
| 781 |
+
</geometry>
|
| 782 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 783 |
+
<material name="White" />
|
| 784 |
+
</visual>
|
| 785 |
+
<collision>
|
| 786 |
+
<geometry>
|
| 787 |
+
<mesh filename="meshes/xarm7/visual/link1.stl"/>
|
| 788 |
+
</geometry>
|
| 789 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 790 |
+
</collision>
|
| 791 |
+
</link>
|
| 792 |
+
|
| 793 |
+
<!-- Joint 1 -->
|
| 794 |
+
<joint name="R_joint1" type="revolute">
|
| 795 |
+
<origin xyz="0 0 0.267" rpy="0 0 0" />
|
| 796 |
+
<parent link="R_link_base" />
|
| 797 |
+
<child link="R_link1" />
|
| 798 |
+
<axis xyz="0 0 1" />
|
| 799 |
+
<limit
|
| 800 |
+
lower="-6.283185307"
|
| 801 |
+
upper="6.283185307"
|
| 802 |
+
effort="50"
|
| 803 |
+
velocity="3.14" />
|
| 804 |
+
<dynamics damping="10" friction="1" />
|
| 805 |
+
</joint>
|
| 806 |
+
|
| 807 |
+
<!-- Link 2 -->
|
| 808 |
+
<link name="R_link2">
|
| 809 |
+
<inertial>
|
| 810 |
+
<origin xyz="0.00022 -0.12856 0.01735" rpy="0 0 0" />
|
| 811 |
+
<mass value="1.869" />
|
| 812 |
+
<inertia
|
| 813 |
+
ixx="0.0095989" ixy="1.541e-06" ixz="5.56e-06"
|
| 814 |
+
iyy="0.00382472" iyz="-0.00317156" izz="0.007565669" />
|
| 815 |
+
</inertial>
|
| 816 |
+
<visual>
|
| 817 |
+
<geometry>
|
| 818 |
+
<mesh filename="meshes/xarm7/visual/link2.stl"/>
|
| 819 |
+
</geometry>
|
| 820 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 821 |
+
<material name="White" />
|
| 822 |
+
</visual>
|
| 823 |
+
<collision>
|
| 824 |
+
<geometry>
|
| 825 |
+
<mesh filename="meshes/xarm7/visual/link2.stl"/>
|
| 826 |
+
</geometry>
|
| 827 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 828 |
+
</collision>
|
| 829 |
+
</link>
|
| 830 |
+
|
| 831 |
+
<!-- Joint 2 -->
|
| 832 |
+
<joint name="R_joint2" type="revolute">
|
| 833 |
+
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
|
| 834 |
+
<parent link="R_link1" />
|
| 835 |
+
<child link="R_link2" />
|
| 836 |
+
<axis xyz="0 0 1" />
|
| 837 |
+
<limit
|
| 838 |
+
lower="-2.059"
|
| 839 |
+
upper="2.0944"
|
| 840 |
+
effort="50"
|
| 841 |
+
velocity="3.14" />
|
| 842 |
+
<dynamics damping="10" friction="1" />
|
| 843 |
+
</joint>
|
| 844 |
+
|
| 845 |
+
<!-- Link 3 -->
|
| 846 |
+
<link name="R_link3">
|
| 847 |
+
<inertial>
|
| 848 |
+
<origin xyz="0.0466 -0.02463 -0.00768" rpy="0 0 0" />
|
| 849 |
+
<mass value="1.6383" />
|
| 850 |
+
<inertia
|
| 851 |
+
ixx="0.00310955" ixy="0.00030837" ixz="-0.00058453"
|
| 852 |
+
iyy="0.00264483" iyz="0.000338893" izz="0.0026624" />
|
| 853 |
+
</inertial>
|
| 854 |
+
<visual>
|
| 855 |
+
<geometry>
|
| 856 |
+
<mesh filename="meshes/xarm7/visual/link3.stl"/>
|
| 857 |
+
</geometry>
|
| 858 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 859 |
+
<material name="White" />
|
| 860 |
+
</visual>
|
| 861 |
+
<collision>
|
| 862 |
+
<geometry>
|
| 863 |
+
<mesh filename="meshes/xarm7/visual/link3.stl"/>
|
| 864 |
+
</geometry>
|
| 865 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 866 |
+
</collision>
|
| 867 |
+
</link>
|
| 868 |
+
|
| 869 |
+
<!-- Joint 3 -->
|
| 870 |
+
<joint name="R_joint3" type="revolute">
|
| 871 |
+
<origin xyz="0 -0.293 0" rpy="1.5708 0 0" />
|
| 872 |
+
<parent link="R_link2" />
|
| 873 |
+
<child link="R_link3" />
|
| 874 |
+
<axis xyz="0 0 1" />
|
| 875 |
+
<limit
|
| 876 |
+
lower="-6.283185307"
|
| 877 |
+
upper="6.283185307"
|
| 878 |
+
effort="30"
|
| 879 |
+
velocity="3.14" />
|
| 880 |
+
<dynamics damping="5" friction="1" />
|
| 881 |
+
</joint>
|
| 882 |
+
|
| 883 |
+
<!-- Link 4 -->
|
| 884 |
+
<link name="R_link4">
|
| 885 |
+
<inertial>
|
| 886 |
+
<origin xyz="0.07047 -0.11575 0.012" rpy="0 0 0" />
|
| 887 |
+
<mass value="1.7269" />
|
| 888 |
+
<inertia
|
| 889 |
+
ixx="0.005889" ixy="0.00137112" ixz="0.00088143"
|
| 890 |
+
iyy="0.00359703" iyz="-0.001762155" izz="0.00543244" />
|
| 891 |
+
</inertial>
|
| 892 |
+
<visual>
|
| 893 |
+
<geometry>
|
| 894 |
+
<mesh filename="meshes/xarm7/visual/link4.stl"/>
|
| 895 |
+
</geometry>
|
| 896 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 897 |
+
<material name="White" />
|
| 898 |
+
</visual>
|
| 899 |
+
<collision>
|
| 900 |
+
<geometry>
|
| 901 |
+
<mesh filename="meshes/xarm7/visual/link4.stl"/>
|
| 902 |
+
</geometry>
|
| 903 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 904 |
+
</collision>
|
| 905 |
+
</link>
|
| 906 |
+
|
| 907 |
+
<!-- Joint 4 -->
|
| 908 |
+
<joint name="R_joint4" type="revolute">
|
| 909 |
+
<origin xyz="0.0525 0 0" rpy="1.5708 0 0" />
|
| 910 |
+
<parent link="R_link3" />
|
| 911 |
+
<child link="R_link4" />
|
| 912 |
+
<axis xyz="0 0 1" />
|
| 913 |
+
<limit
|
| 914 |
+
lower="-0.19198"
|
| 915 |
+
upper="3.927"
|
| 916 |
+
effort="30"
|
| 917 |
+
velocity="3.14" />
|
| 918 |
+
<dynamics damping="5" friction="1" />
|
| 919 |
+
</joint>
|
| 920 |
+
|
| 921 |
+
<!-- Link 5 -->
|
| 922 |
+
<link name="R_link5">
|
| 923 |
+
<inertial>
|
| 924 |
+
<origin xyz="-0.00032 0.01604 -0.026" rpy="0 0 0" />
|
| 925 |
+
<mass value="1.3203" />
|
| 926 |
+
<inertia
|
| 927 |
+
ixx="0.00534665" ixy="1.5117e-05" ixz="-3.69e-07"
|
| 928 |
+
iyy="0.0049779" iyz="-0.00022132" izz="0.0013624" />
|
| 929 |
+
</inertial>
|
| 930 |
+
<visual>
|
| 931 |
+
<geometry>
|
| 932 |
+
<mesh filename="meshes/xarm7/visual/link5.stl"/>
|
| 933 |
+
</geometry>
|
| 934 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 935 |
+
<material name="White" />
|
| 936 |
+
</visual>
|
| 937 |
+
<collision>
|
| 938 |
+
<geometry>
|
| 939 |
+
<mesh filename="meshes/xarm7/visual/link5.stl"/>
|
| 940 |
+
</geometry>
|
| 941 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 942 |
+
</collision>
|
| 943 |
+
</link>
|
| 944 |
+
|
| 945 |
+
<!-- Joint 5 -->
|
| 946 |
+
<joint name="R_joint5" type="revolute">
|
| 947 |
+
<origin xyz="0.0775 -0.3425 0" rpy="1.5708 0 0" />
|
| 948 |
+
<parent link="R_link4" />
|
| 949 |
+
<child link="R_link5" />
|
| 950 |
+
<axis xyz="0 0 1" />
|
| 951 |
+
<limit
|
| 952 |
+
lower="-6.283185307"
|
| 953 |
+
upper="6.283185307"
|
| 954 |
+
effort="30"
|
| 955 |
+
velocity="3.14" />
|
| 956 |
+
<dynamics damping="5" friction="1" />
|
| 957 |
+
</joint>
|
| 958 |
+
|
| 959 |
+
<!-- Link 6 -->
|
| 960 |
+
<link name="R_link6">
|
| 961 |
+
<inertial>
|
| 962 |
+
<origin xyz="0.06469 0.03278 0.02141" rpy="0 0 0" />
|
| 963 |
+
<mass value="1.325" />
|
| 964 |
+
<inertia
|
| 965 |
+
ixx="0.0014745" ixy="-0.000488" ixz="0.0002953"
|
| 966 |
+
iyy="0.0019037" iyz="0.00014749" izz="0.0023652" />
|
| 967 |
+
</inertial>
|
| 968 |
+
<visual>
|
| 969 |
+
<geometry>
|
| 970 |
+
<mesh filename="meshes/xarm7/visual/link6.stl"/>
|
| 971 |
+
</geometry>
|
| 972 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 973 |
+
<material name="White" />
|
| 974 |
+
</visual>
|
| 975 |
+
<collision>
|
| 976 |
+
<geometry>
|
| 977 |
+
<mesh filename="meshes/xarm7/visual/link6.stl"/>
|
| 978 |
+
</geometry>
|
| 979 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 980 |
+
</collision>
|
| 981 |
+
</link>
|
| 982 |
+
|
| 983 |
+
<!-- Joint 6 -->
|
| 984 |
+
<joint name="R_joint6" type="revolute">
|
| 985 |
+
<origin xyz="0 0 0" rpy="1.5708 0 0" />
|
| 986 |
+
<parent link="R_link5" />
|
| 987 |
+
<child link="R_link6" />
|
| 988 |
+
<axis xyz="0 0 1" />
|
| 989 |
+
<limit
|
| 990 |
+
lower="-1.69297"
|
| 991 |
+
upper="3.14159265359"
|
| 992 |
+
effort="20"
|
| 993 |
+
velocity="3.14" />
|
| 994 |
+
<dynamics damping="2" friction="1" />
|
| 995 |
+
</joint>
|
| 996 |
+
|
| 997 |
+
<!-- Link 7 -->
|
| 998 |
+
<link name="R_link7">
|
| 999 |
+
<inertial>
|
| 1000 |
+
<origin xyz="0 -0.00677 -0.01098" rpy="0 0 0" />
|
| 1001 |
+
<mass value="0.17" />
|
| 1002 |
+
<inertia
|
| 1003 |
+
ixx="9.3e-05" ixy="0.0" ixz="0.0"
|
| 1004 |
+
iyy="5.87e-05" iyz="-3.6e-06" izz="0.000132" />
|
| 1005 |
+
</inertial>
|
| 1006 |
+
<visual>
|
| 1007 |
+
<geometry>
|
| 1008 |
+
<mesh filename="meshes/xarm7/visual/link7.stl"/>
|
| 1009 |
+
</geometry>
|
| 1010 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 1011 |
+
<material name="Silver" />
|
| 1012 |
+
</visual>
|
| 1013 |
+
<collision>
|
| 1014 |
+
<geometry>
|
| 1015 |
+
<mesh filename="meshes/end_tool/collision/end_tool.stl"/>
|
| 1016 |
+
</geometry>
|
| 1017 |
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
| 1018 |
+
</collision>
|
| 1019 |
+
</link>
|
| 1020 |
+
|
| 1021 |
+
<!-- Joint 7 -->
|
| 1022 |
+
<joint name="R_joint7" type="revolute">
|
| 1023 |
+
<origin xyz="0.076 0.097 0" rpy="-1.5708 0 0" />
|
| 1024 |
+
<parent link="R_link6" />
|
| 1025 |
+
<child link="R_link7" />
|
| 1026 |
+
<axis xyz="0 0 1" />
|
| 1027 |
+
<limit
|
| 1028 |
+
lower="-6.283185307"
|
| 1029 |
+
upper="6.283185307"
|
| 1030 |
+
effort="20"
|
| 1031 |
+
velocity="3.14" />
|
| 1032 |
+
<dynamics damping="2" friction="1" />
|
| 1033 |
+
</joint>
|
| 1034 |
+
|
| 1035 |
+
<link name="R_link_eef"/>
|
| 1036 |
+
<!-- Gripper attachment joint -->
|
| 1037 |
+
<joint name="attachment_R_eef" type="fixed">
|
| 1038 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1039 |
+
<parent link="R_link7" />
|
| 1040 |
+
<child link="R_link_eef" />
|
| 1041 |
+
</joint>
|
| 1042 |
+
|
| 1043 |
+
<joint name="attachment_R_xarm_gripper" type="fixed">
|
| 1044 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 1045 |
+
<parent link="R_link_eef" />
|
| 1046 |
+
<child link="R_xarm_gripper_base_link" />
|
| 1047 |
+
</joint>
|
| 1048 |
+
|
| 1049 |
+
<!-- XArm Gripper Links and Joints -->
|
| 1050 |
+
<link name="R_xarm_gripper_base_link">
|
| 1051 |
+
<inertial>
|
| 1052 |
+
<origin rpy="0 0 0" xyz="-0.00065489 -0.0018497 0.048028"/>
|
| 1053 |
+
<mass value="0.54156"/>
|
| 1054 |
+
<inertia ixx="0.00047106" ixy="3.9292E-07" ixz="2.6537E-06" iyy="0.00033072" iyz="-1.0975E-05" izz="0.00025642"/>
|
| 1055 |
+
</inertial>
|
| 1056 |
+
<visual>
|
| 1057 |
+
<geometry>
|
| 1058 |
+
<mesh filename="meshes/gripper/xarm/base_link.stl"/>
|
| 1059 |
+
</geometry>
|
| 1060 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1061 |
+
<material name="White"/>
|
| 1062 |
+
</visual>
|
| 1063 |
+
<collision>
|
| 1064 |
+
<geometry>
|
| 1065 |
+
<mesh filename="meshes/gripper/xarm/base_link.stl"/>
|
| 1066 |
+
</geometry>
|
| 1067 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1068 |
+
</collision>
|
| 1069 |
+
</link>
|
| 1070 |
+
|
| 1071 |
+
<link name="R_left_outer_knuckle">
|
| 1072 |
+
<inertial>
|
| 1073 |
+
<origin rpy="0 0 0" xyz="2.9948E-14 0.021559 0.015181"/>
|
| 1074 |
+
<mass value="0.033618"/>
|
| 1075 |
+
<inertia ixx="1.9111E-05" ixy="-1.8803E-17" ixz="-1.1002E-17" iyy="6.6256E-06" iyz="-7.3008E-06" izz="1.3185E-05"/>
|
| 1076 |
+
</inertial>
|
| 1077 |
+
<visual>
|
| 1078 |
+
<geometry>
|
| 1079 |
+
<mesh filename="meshes/gripper/xarm/left_outer_knuckle.stl"/>
|
| 1080 |
+
</geometry>
|
| 1081 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1082 |
+
<material name="Silver"/>
|
| 1083 |
+
</visual>
|
| 1084 |
+
<collision>
|
| 1085 |
+
<geometry>
|
| 1086 |
+
<mesh filename="meshes/gripper/xarm/left_outer_knuckle.stl"/>
|
| 1087 |
+
</geometry>
|
| 1088 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1089 |
+
</collision>
|
| 1090 |
+
</link>
|
| 1091 |
+
|
| 1092 |
+
<joint name="R_drive_joint" type="revolute">
|
| 1093 |
+
<origin rpy="0 0 0" xyz="0 0.035 0.059098"/>
|
| 1094 |
+
<parent link="R_xarm_gripper_base_link"/>
|
| 1095 |
+
<child link="R_left_outer_knuckle"/>
|
| 1096 |
+
<axis xyz="1 0 0"/>
|
| 1097 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 1098 |
+
<dynamics damping="1" friction="1" />
|
| 1099 |
+
</joint>
|
| 1100 |
+
|
| 1101 |
+
<link name="R_left_finger">
|
| 1102 |
+
<inertial>
|
| 1103 |
+
<origin rpy="0 0 0" xyz="-2.4536E-14 -0.016413 0.029258"/>
|
| 1104 |
+
<mass value="0.048304"/>
|
| 1105 |
+
<inertia ixx="1.7493E-05" ixy="-4.2156E-19" ixz="6.9164E-18" iyy="1.7225E-05" iyz="4.6433E-06" izz="5.1466E-06"/>
|
| 1106 |
+
</inertial>
|
| 1107 |
+
<visual>
|
| 1108 |
+
<geometry>
|
| 1109 |
+
<mesh filename="meshes/gripper/xarm/left_finger.stl"/>
|
| 1110 |
+
</geometry>
|
| 1111 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1112 |
+
<material name="Silver"/>
|
| 1113 |
+
</visual>
|
| 1114 |
+
<collision>
|
| 1115 |
+
<geometry>
|
| 1116 |
+
<mesh filename="meshes/gripper/xarm/left_finger.stl"/>
|
| 1117 |
+
</geometry>
|
| 1118 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1119 |
+
</collision>
|
| 1120 |
+
</link>
|
| 1121 |
+
|
| 1122 |
+
<joint name="R_left_finger_joint" type="revolute">
|
| 1123 |
+
<origin rpy="0 0 0" xyz="0 0.035465 0.042039"/>
|
| 1124 |
+
<parent link="R_left_outer_knuckle"/>
|
| 1125 |
+
<child link="R_left_finger"/>
|
| 1126 |
+
<axis xyz="-1 0 0"/>
|
| 1127 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 1128 |
+
<mimic joint="R_drive_joint" multiplier="1" offset="0"/>
|
| 1129 |
+
<dynamics damping="1" friction="1" />
|
| 1130 |
+
</joint>
|
| 1131 |
+
|
| 1132 |
+
<link name="R_left_inner_knuckle">
|
| 1133 |
+
<inertial>
|
| 1134 |
+
<origin rpy="0 0 0" xyz="1.86600784687907E-06 0.0220467847633621 0.0261334672830885"/>
|
| 1135 |
+
<mass value="0.0230125781256706"/>
|
| 1136 |
+
<inertia ixx="6.09490024271906E-06" ixy="6.06651326160071E-11" ixz="7.19102670500635E-11" iyy="6.01955084375188E-06" iyz="-2.75316812991721E-06" izz="5.07862004479903E-06"/>
|
| 1137 |
+
</inertial>
|
| 1138 |
+
<visual>
|
| 1139 |
+
<geometry>
|
| 1140 |
+
<mesh filename="meshes/gripper/xarm/left_inner_knuckle.stl"/>
|
| 1141 |
+
</geometry>
|
| 1142 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1143 |
+
<material name="Silver"/>
|
| 1144 |
+
</visual>
|
| 1145 |
+
<collision>
|
| 1146 |
+
<geometry>
|
| 1147 |
+
<mesh filename="meshes/gripper/xarm/left_inner_knuckle.stl"/>
|
| 1148 |
+
</geometry>
|
| 1149 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1150 |
+
</collision>
|
| 1151 |
+
</link>
|
| 1152 |
+
|
| 1153 |
+
<joint name="R_left_inner_knuckle_joint" type="revolute">
|
| 1154 |
+
<origin rpy="0 0 0" xyz="0 0.02 0.074098"/>
|
| 1155 |
+
<parent link="R_xarm_gripper_base_link"/>
|
| 1156 |
+
<child link="R_left_inner_knuckle"/>
|
| 1157 |
+
<axis xyz="1 0 0"/>
|
| 1158 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 1159 |
+
<mimic joint="R_drive_joint" multiplier="1" offset="0"/>
|
| 1160 |
+
<dynamics damping="1" friction="1" />
|
| 1161 |
+
</joint>
|
| 1162 |
+
|
| 1163 |
+
<link name="R_right_outer_knuckle">
|
| 1164 |
+
<inertial>
|
| 1165 |
+
<origin rpy="0 0 0" xyz="-3.1669E-14 -0.021559 0.015181"/>
|
| 1166 |
+
<mass value="0.033618"/>
|
| 1167 |
+
<inertia ixx="1.9111E-05" ixy="-1.8789E-17" ixz="1.0986E-17" iyy="6.6256E-06" iyz="7.3008E-06" izz="1.3185E-05"/>
|
| 1168 |
+
</inertial>
|
| 1169 |
+
<visual>
|
| 1170 |
+
<geometry>
|
| 1171 |
+
<mesh filename="meshes/gripper/xarm/right_outer_knuckle.stl"/>
|
| 1172 |
+
</geometry>
|
| 1173 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1174 |
+
<material name="Silver"/>
|
| 1175 |
+
</visual>
|
| 1176 |
+
<collision>
|
| 1177 |
+
<geometry>
|
| 1178 |
+
<mesh filename="meshes/gripper/xarm/right_outer_knuckle.stl"/>
|
| 1179 |
+
</geometry>
|
| 1180 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1181 |
+
</collision>
|
| 1182 |
+
</link>
|
| 1183 |
+
|
| 1184 |
+
<joint name="R_right_outer_knuckle_joint" type="revolute">
|
| 1185 |
+
<origin rpy="0 0 0" xyz="0 -0.035 0.059098"/>
|
| 1186 |
+
<parent link="R_xarm_gripper_base_link"/>
|
| 1187 |
+
<child link="R_right_outer_knuckle"/>
|
| 1188 |
+
<axis xyz="-1 0 0"/>
|
| 1189 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 1190 |
+
<mimic joint="R_drive_joint" multiplier="1" offset="0"/>
|
| 1191 |
+
<dynamics damping="1" friction="1" />
|
| 1192 |
+
</joint>
|
| 1193 |
+
|
| 1194 |
+
<link name="R_right_finger">
|
| 1195 |
+
<inertial>
|
| 1196 |
+
<origin rpy="0 0 0" xyz="2.5618E-14 0.016413 0.029258"/>
|
| 1197 |
+
<mass value="0.048304"/>
|
| 1198 |
+
<inertia ixx="1.7493E-05" ixy="-5.0014E-19" ixz="-7.5079E-18" iyy="1.7225E-05" iyz="-4.6435E-06" izz="5.1466E-06"/>
|
| 1199 |
+
</inertial>
|
| 1200 |
+
<visual>
|
| 1201 |
+
<geometry>
|
| 1202 |
+
<mesh filename="meshes/gripper/xarm/right_finger.stl"/>
|
| 1203 |
+
</geometry>
|
| 1204 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1205 |
+
<material name="Silver"/>
|
| 1206 |
+
</visual>
|
| 1207 |
+
<collision>
|
| 1208 |
+
<geometry>
|
| 1209 |
+
<mesh filename="meshes/gripper/xarm/right_finger.stl"/>
|
| 1210 |
+
</geometry>
|
| 1211 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1212 |
+
</collision>
|
| 1213 |
+
</link>
|
| 1214 |
+
|
| 1215 |
+
<joint name="R_right_finger_joint" type="revolute">
|
| 1216 |
+
<origin rpy="0 0 0" xyz="0 -0.035465 0.042039"/>
|
| 1217 |
+
<parent link="R_right_outer_knuckle"/>
|
| 1218 |
+
<child link="R_right_finger"/>
|
| 1219 |
+
<axis xyz="1 0 0"/>
|
| 1220 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 1221 |
+
<mimic joint="R_drive_joint" multiplier="1" offset="0"/>
|
| 1222 |
+
<dynamics damping="1" friction="1" />
|
| 1223 |
+
</joint>
|
| 1224 |
+
|
| 1225 |
+
<link name="R_right_inner_knuckle">
|
| 1226 |
+
<inertial>
|
| 1227 |
+
<origin rpy="0 0 0" xyz="1.866E-06 -0.022047 0.026133"/>
|
| 1228 |
+
<mass value="0.023013"/>
|
| 1229 |
+
<inertia ixx="6.0949E-06" ixy="-6.0665E-11" ixz="7.191E-11" iyy="6.0197E-06" iyz="2.7531E-06" izz="5.0784E-06"/>
|
| 1230 |
+
</inertial>
|
| 1231 |
+
<visual>
|
| 1232 |
+
<geometry>
|
| 1233 |
+
<mesh filename="meshes/gripper/xarm/right_inner_knuckle.stl"/>
|
| 1234 |
+
</geometry>
|
| 1235 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1236 |
+
<material name="Silver"/>
|
| 1237 |
+
</visual>
|
| 1238 |
+
<collision>
|
| 1239 |
+
<geometry>
|
| 1240 |
+
<mesh filename="meshes/gripper/xarm/right_inner_knuckle.stl"/>
|
| 1241 |
+
</geometry>
|
| 1242 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
| 1243 |
+
</collision>
|
| 1244 |
+
</link>
|
| 1245 |
+
|
| 1246 |
+
<joint name="R_right_inner_knuckle_joint" type="revolute">
|
| 1247 |
+
<origin rpy="0 0 0" xyz="0 -0.02 0.074098"/>
|
| 1248 |
+
<parent link="R_xarm_gripper_base_link"/>
|
| 1249 |
+
<child link="R_right_inner_knuckle"/>
|
| 1250 |
+
<axis xyz="-1 0 0"/>
|
| 1251 |
+
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
| 1252 |
+
<mimic joint="R_drive_joint" multiplier="1" offset="0"/>
|
| 1253 |
+
<dynamics damping="1" friction="1" />
|
| 1254 |
+
</joint>
|
| 1255 |
+
|
| 1256 |
+
<!-- ================= ZED CAMERA MOUNT ================= -->
|
| 1257 |
+
<link name="R_zed_camera_mount_link">
|
| 1258 |
+
<visual>
|
| 1259 |
+
<origin xyz="0 0 0" rpy="0 3.14159265 1.570796"/>
|
| 1260 |
+
<geometry>
|
| 1261 |
+
<mesh filename="meshes/zed_camera_mount_xarm.stl"/>
|
| 1262 |
+
</geometry>
|
| 1263 |
+
<material name="Silver"/>
|
| 1264 |
+
</visual>
|
| 1265 |
+
</link>
|
| 1266 |
+
<joint name="R_zed_camera_mount_joint" type="fixed">
|
| 1267 |
+
<parent link="R_link_eef"/>
|
| 1268 |
+
<child link="R_zed_camera_mount_link"/>
|
| 1269 |
+
<origin xyz="0.0 0 0.0" rpy="0 0 0"/>
|
| 1270 |
+
</joint>
|
| 1271 |
+
|
| 1272 |
+
<!-- ================= ZED CAMERA INTEGRATION ================= -->
|
| 1273 |
+
<joint name="R_zed_mount_joint" type="fixed">
|
| 1274 |
+
<parent link="R_zed_camera_mount_link"/>
|
| 1275 |
+
<child link="R_zed_camera_link"/>
|
| 1276 |
+
<origin xyz="0.0726 0 0.0295" rpy="0 -1.04719 3.141596"/>
|
| 1277 |
+
</joint>
|
| 1278 |
+
|
| 1279 |
+
<!-- Camera mounting point (the threaded screw hole in the bottom) -->
|
| 1280 |
+
<link name="R_zed_camera_link"/>
|
| 1281 |
+
|
| 1282 |
+
<!-- Camera Center -->
|
| 1283 |
+
<link name="R_zed_camera_center">
|
| 1284 |
+
<visual>
|
| 1285 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0 0.0"/>
|
| 1286 |
+
<geometry>
|
| 1287 |
+
<mesh filename="meshes/zed2i.stl"/>
|
| 1288 |
+
</geometry>
|
| 1289 |
+
<material name="zed2i_mat"/>
|
| 1290 |
+
</visual>
|
| 1291 |
+
<collision>
|
| 1292 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0 0.0"/>
|
| 1293 |
+
<geometry>
|
| 1294 |
+
<mesh filename="meshes/zed2i.stl"/>
|
| 1295 |
+
</geometry>
|
| 1296 |
+
</collision>
|
| 1297 |
+
</link>
|
| 1298 |
+
<joint name="R_zed_camera_center_joint" type="fixed">
|
| 1299 |
+
<parent link="R_zed_camera_link"/>
|
| 1300 |
+
<child link="R_zed_camera_center"/>
|
| 1301 |
+
<origin rpy="-1.5707963267948966 0.0 0" xyz="0 0 0.015"/>
|
| 1302 |
+
</joint>
|
| 1303 |
+
|
| 1304 |
+
<!-- Left Camera -->
|
| 1305 |
+
<link name="R_zed_left_camera_frame"/>
|
| 1306 |
+
<joint name="R_zed_left_camera_joint" type="fixed">
|
| 1307 |
+
<parent link="R_zed_camera_center"/>
|
| 1308 |
+
<child link="R_zed_left_camera_frame"/>
|
| 1309 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0.0 0.06"/>
|
| 1310 |
+
</joint>
|
| 1311 |
+
|
| 1312 |
+
<link name="R_zed_left_camera_optical_frame"/>
|
| 1313 |
+
<joint name="R_zed_left_camera_optical_joint" type="fixed">
|
| 1314 |
+
<origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
|
| 1315 |
+
<parent link="R_zed_left_camera_frame"/>
|
| 1316 |
+
<child link="R_zed_left_camera_optical_frame"/>
|
| 1317 |
+
</joint>
|
| 1318 |
+
|
| 1319 |
+
<!-- Right Camera -->
|
| 1320 |
+
<link name="R_zed_right_camera_frame"/>
|
| 1321 |
+
<joint name="R_zed_right_camera_joint" type="fixed">
|
| 1322 |
+
<parent link="R_zed_camera_center"/>
|
| 1323 |
+
<child link="R_zed_right_camera_frame"/>
|
| 1324 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0 -0.06"/>
|
| 1325 |
+
</joint>
|
| 1326 |
+
|
| 1327 |
+
<link name="R_zed_right_camera_optical_frame"/>
|
| 1328 |
+
<joint name="R_zed_right_camera_optical_joint" type="fixed">
|
| 1329 |
+
<origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
|
| 1330 |
+
<parent link="R_zed_right_camera_frame"/>
|
| 1331 |
+
<child link="R_zed_right_camera_optical_frame"/>
|
| 1332 |
+
</joint>
|
| 1333 |
+
|
| 1334 |
+
<!-- Depth Camera -->
|
| 1335 |
+
<link name="R_zed_depth_camera_frame"/>
|
| 1336 |
+
<joint name="R_zed_depth_camera_joint" type="fixed">
|
| 1337 |
+
<parent link="R_zed_camera_center"/>
|
| 1338 |
+
<child link="R_zed_depth_camera_frame"/>
|
| 1339 |
+
<origin rpy="1.5707963267948966 0 0" xyz="-0.01 0.0 0.06"/> <!-- this is the same as left camera , standard convention-->
|
| 1340 |
+
</joint>
|
| 1341 |
+
|
| 1342 |
+
<link name="R_zed_depth_camera_optical_frame"/>
|
| 1343 |
+
<joint name="R_zed_depth_camera_optical_joint" type="fixed">
|
| 1344 |
+
<origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0 0 0"/>
|
| 1345 |
+
<parent link="R_zed_depth_camera_frame"/>
|
| 1346 |
+
<child link="R_zed_depth_camera_optical_frame"/>
|
| 1347 |
+
</joint>
|
| 1348 |
+
|
| 1349 |
+
</robot>
|
data/bimanual/urdf/meshes/end_tool/collision/end_tool.stl
ADDED
|
Binary file (13.1 kB). View file
|
|
|
data/bimanual/urdf/meshes/gripper/xarm/base_link.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cdaa4cff22f7c9cff05c6a8ed32f94fd2b11a69d37dd97a159ccee2d8dd32f13
|
| 3 |
+
size 1211434
|
data/bimanual/urdf/meshes/gripper/xarm/left_finger.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a44756eb72f9c214cb37e61dc209cd7073fdff3e4271a7423476ef6fd090d2d4
|
| 3 |
+
size 242684
|
data/bimanual/urdf/meshes/gripper/xarm/left_inner_knuckle.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e8e48692ad26837bb3d6a97582c89784d09948fc09bfe4e5a59017859ff04dac
|
| 3 |
+
size 366284
|
data/bimanual/urdf/meshes/gripper/xarm/left_outer_knuckle.stl
ADDED
|
Binary file (22.3 kB). View file
|
|
|
data/bimanual/urdf/meshes/gripper/xarm/right_finger.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c5dee87c7f37baf554b8456ebfe0b3e8ed0b22b8938bd1add6505c2ad6d32c7d
|
| 3 |
+
size 242684
|
data/bimanual/urdf/meshes/gripper/xarm/right_inner_knuckle.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b41dd2c2c550281bf78d7cc6fa117b14786700e5c453560a0cb5fd6dfa0ffb3e
|
| 3 |
+
size 366284
|
data/bimanual/urdf/meshes/gripper/xarm/right_outer_knuckle.stl
ADDED
|
Binary file (22.3 kB). View file
|
|
|
data/bimanual/urdf/meshes/xarm6/visual/link1.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:103a81f9f00c217247f8b6c8f19b3afcbc9288852082389044d88a4a321cd8cd
|
| 3 |
+
size 188084
|
data/bimanual/urdf/meshes/xarm6/visual/link2.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:20ef55e34f8a63bb65108ed3134c4b22d911b55cd496ca5562b3978cba88ac77
|
| 3 |
+
size 1305984
|
data/bimanual/urdf/meshes/xarm6/visual/link3.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f1503bc0c1fe8d39f4c509dba7288d9130954a35a1bcbaa0fca95d083fed3ffe
|
| 3 |
+
size 212484
|
data/bimanual/urdf/meshes/xarm6/visual/link4.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2a9952085fef91045380dac9825d9ad5a75867196933bc2cb1c3a635c23b0b7e
|
| 3 |
+
size 228984
|
data/bimanual/urdf/meshes/xarm6/visual/link5.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bfca01aae4255803ba2f5391c93836b91e1761e069275e38a9656ff2d53f45a4
|
| 3 |
+
size 383034
|
data/bimanual/urdf/meshes/xarm6/visual/link6.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b90cb1b373e65c035d7965bde92f4e2aedacdbbd57785a9018cd996b6b0b688e
|
| 3 |
+
size 129884
|
data/bimanual/urdf/meshes/xarm6/visual/link_base.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d3d61f2888bc39eecb8583babc7dddccb92f2ccd55aa32cd6f1dce6193feb3b6
|
| 3 |
+
size 123284
|
data/bimanual/urdf/meshes/xarm7/visual/link1.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:34b541122df84d2ef5fcb91b715eb19659dc15ad8d44a191dde481f780265636
|
| 3 |
+
size 184184
|
data/bimanual/urdf/meshes/xarm7/visual/link2.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:61e641cd47c169ecef779683332e00e4914db729bf02dfb61bfbe69351827455
|
| 3 |
+
size 225584
|
data/bimanual/urdf/meshes/xarm7/visual/link3.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9e2798e7946dd70046c95455d5ba96392d0b54a6069caba91dc4ca66e1379b42
|
| 3 |
+
size 237084
|
data/bimanual/urdf/meshes/xarm7/visual/link4.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c757fee95f873191a0633c355c07a360032960771cabbd7593a6cdb0f1ffb089
|
| 3 |
+
size 243684
|
data/bimanual/urdf/meshes/xarm7/visual/link5.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:715ad5787c5dab57589937fd47289882707b5e1eb997e340d567785b02f4ec90
|
| 3 |
+
size 229084
|
data/bimanual/urdf/meshes/xarm7/visual/link6.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:85b320aa420497827223d16d492bba8de091173374e361396fc7a5dad7bdb0cb
|
| 3 |
+
size 399384
|
data/bimanual/urdf/meshes/xarm7/visual/link7.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:97115d848fbf802cb770cd9be639ae2af993103b9d9bbb0c50c943c738a36f18
|
| 3 |
+
size 231684
|
data/bimanual/urdf/meshes/xarm7/visual/link_base.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cf52275a913a0977595f5d12373f06583513e26fe18b8cf2827c74da94a4f0be
|
| 3 |
+
size 304784
|
data/bimanual/urdf/meshes/zed2i.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:18fa290f6729b8fd36d79bed4fb70cc97f84c2b4871b1b6d5d5ff4baed822da3
|
| 3 |
+
size 718084
|
data/bimanual/urdf/meshes/zed_camera_mount_xarm.stl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b25ac0a94ffaa2e13565032f18a3951a82cc69fbc634a59b3d4c236cd15eabcb
|
| 3 |
+
size 143484
|
data/bimanual/xarm6/fold_tshirt/recording_0001.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:194500dc46a8cb0fae0aced216b84021392d4e44c5c1111dce0a32709a22c95c
|
| 3 |
+
size 10972576398
|
data/bimanual/xarm6/fold_tshirt/recording_0002.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:adaaa9a73d54c0ae004e0fffea98177e0ae4ce9404eb58057c662c335c98f9fb
|
| 3 |
+
size 12531598611
|
data/bimanual/xarm6/fold_tshirt/recording_0003.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:346958f7a683d44dba1b5952aa367a6d2a4673d66eccdb69611f340a625e5b51
|
| 3 |
+
size 19137757230
|
data/bimanual/xarm6/fold_tshirt/recording_0004.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:66c3d467b1e7c943bbc9a064371568b705e40f837e1b4380ac8a664aed43ccd5
|
| 3 |
+
size 19830989465
|
data/bimanual/xarm6/fold_tshirt/recording_0005.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2eabb6ed47402ac799fd951f469fb85dad1b885be52202e2db92a73bfc95bba1
|
| 3 |
+
size 22956986819
|
data/bimanual/xarm6/fold_tshirt/recording_0006.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:060f466883642c2c464b29fbf4cec1a05e172ccc8ae8f28095fde07c6b1b1cee
|
| 3 |
+
size 28799306586
|
data/bimanual/xarm6/fold_tshirt/recording_0007.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6eafd9b7054ffc75c16d38d0cdc7b556b77439b28624b266a198769b951e467d
|
| 3 |
+
size 23959559791
|
data/bimanual/xarm6/fold_tshirt/recording_0008.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f79dc764bd6f66a7a5f315758af3e004c40c8ccbf1785be573849662ac08f8d3
|
| 3 |
+
size 20107488935
|
data/bimanual/xarm6/fold_tshirt/recording_0009.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a1f461f9bb00bf6eccf76a58b656db0e931543ed66454720a51256706311734b
|
| 3 |
+
size 11960346410
|
data/bimanual/xarm6/fold_tshirt/recording_0010.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:077017eb09a2bfd96a4b00751ab80e55576c85244141c541aaee38c190252261
|
| 3 |
+
size 14603875383
|
data/bimanual/xarm6/fold_tshirt/recording_0011.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:82e23a2beefb84f1d8c9ec75852005cd6600adbe779679f2c4cf564d51581618
|
| 3 |
+
size 16289504404
|
data/bimanual/xarm6/fold_tshirt/recording_0012.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9dfe23f56269ba87b99cef52d7eaa93849992d016452538a6279227ce0190816
|
| 3 |
+
size 12494978148
|
data/bimanual/xarm6/fold_tshirt/recording_0013.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3b2cc45425dfff90b91c4d74df78bad9586c7e3521078236ce29a0af129ba26a
|
| 3 |
+
size 15787770748
|
data/bimanual/xarm6/place_clothing_into_basket/recording_0001.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9738116687086aa924dc099bfd846d50ab6c64c233e0e2d34cad883b7574791e
|
| 3 |
+
size 1734536993
|
data/bimanual/xarm6/place_clothing_into_basket/recording_0002.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bbaf0dccc6c97c04be7d2af4a4a11ab7a028a07e3dddf8e0ae53d63a6ab4f819
|
| 3 |
+
size 2117087705
|
data/bimanual/xarm6/place_clothing_into_basket/recording_0003.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1e9effd5331272d3a84081d73af77c0cf653e455e3b9dcfae33257ace0686c56
|
| 3 |
+
size 1918752288
|
data/bimanual/xarm6/place_clothing_into_basket/recording_0004.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f77a0cdeafd69edf4cabf6a1372a059d4ac17ec421e5e36fcfbdf33f268568df
|
| 3 |
+
size 2266779160
|
data/bimanual/xarm6/place_clothing_into_basket/recording_0005.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fadbb2e6323fc19daf3ad17587215504ef8a52a72e63d6ba692968c475f5b403
|
| 3 |
+
size 1187951653
|
data/bimanual/xarm6/place_clothing_into_basket/recording_0006.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bf005c72e4eb97fd6c7b0dccf00c07b9d83001c7ed59599997a6cb7536b209a0
|
| 3 |
+
size 1131959323
|
data/bimanual/xarm6/place_clothing_into_basket/recording_0007.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f24b90d06c87504194f429e52b96ee2aeb583670f36a1ce8d73e3e34748d7e65
|
| 3 |
+
size 1540741652
|