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@@ -81,3 +81,28 @@ urdf/aloha_maniskill_sim/meshes/link3.STL filter=lfs diff=lfs merge=lfs -text
 urdf/aloha_maniskill_sim/meshes/tracer_base_link.STL filter=lfs diff=lfs merge=lfs -text
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 urdf/aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae filter=lfs diff=lfs merge=lfs -text
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aloha_maniskill_sim/meshes/base_link.STL

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aloha_maniskill_sim/meshes/box2_Link.STL

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aloha_maniskill_sim/meshes/d435.dae.backup

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aloha_maniskill_sim/meshes/link3.STL

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aloha_maniskill_sim/meshes/tracer_base_link.dae

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aloha_maniskill_sim/meshes/tracer_base_link_no_wheel.dae

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aloha_maniskill_sim/srdf/arx5_description_isaac.srdf

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+<?xml version="1.0" encoding="UTF-8"?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="arx5_description">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="fl_arm">
+        <joint name="fl_base_joint"/>
+        <joint name="fl_joint1"/>
+        <joint name="fl_joint2"/>
+        <joint name="fl_joint3"/>
+        <joint name="fl_joint4"/>
+        <joint name="fl_joint5"/>
+        <joint name="fl_joint6"/>
+        <chain base_link="fl_base_link" tip_link="fl_link6"/>
+    </group>
+    <group name="fr_arm">
+        <joint name="fr_base_joint"/>
+        <joint name="fr_joint1"/>
+        <joint name="fr_joint2"/>
+        <joint name="fr_joint3"/>
+        <joint name="fr_joint4"/>
+        <joint name="fr_joint5"/>
+        <joint name="fr_joint6"/>
+        <chain base_link="fr_base_link" tip_link="fr_link6"/>
+    </group>
+    <!-- <group name="lr_arm">
+        <joint name="lr_base_joint"/>
+        <joint name="lr_joint1"/>
+        <joint name="lr_joint2"/>
+        <joint name="lr_joint3"/>
+        <joint name="lr_joint4"/>
+        <joint name="lr_joint5"/>
+        <joint name="lr_joint6"/>
+        <chain base_link="lr_base_link" tip_link="lr_link6"/>
+    </group> -->
+    <!-- <group name="rr_arm">
+        <joint name="rr_base_joint"/>
+        <joint name="rr_joint1"/>
+        <joint name="rr_joint2"/>
+        <joint name="rr_joint3"/>
+        <joint name="rr_joint4"/>
+        <joint name="rr_joint5"/>
+        <joint name="rr_joint6"/>
+        <chain base_link="rr_base_link" tip_link="rr_link6"/>
+    </group> -->
+    <group name="fl_gripper">
+        <joint name="fl_joint7"/>
+        <joint name="fl_joint8"/>
+    </group>
+    <group name="fr_gripper">
+        <joint name="fr_joint7"/>
+        <joint name="fr_joint8"/>
+    </group>
+    <!-- <group name="lr_gripper">
+        <joint name="lr_joint7"/>
+        <joint name="lr_joint8"/>
+    </group>
+    <group name="rr_gripper">
+        <joint name="rr_joint7"/>
+        <joint name="rr_joint8"/>
+    </group> -->
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="home" group="fl_arm"/>
+    <group_state name="home" group="fr_arm"/>
+    <!-- <group_state name="home" group="lr_arm">
+        <joint name="lr_joint1" value="0"/>
+        <joint name="lr_joint2" value="0"/>
+        <joint name="lr_joint3" value="0"/>
+        <joint name="lr_joint4" value="0"/>
+        <joint name="lr_joint5" value="0"/>
+        <joint name="lr_joint6" value="0"/>
+    </group_state> -->
+    <!-- <group_state name="home" group="rr_arm">
+        <joint name="rr_joint1" value="0"/>
+        <joint name="rr_joint2" value="0"/>
+        <joint name="rr_joint3" value="0"/>
+        <joint name="rr_joint4" value="0"/>
+        <joint name="rr_joint5" value="0"/>
+        <joint name="rr_joint6" value="0"/>
+    </group_state> -->
+    <group_state name="close" group="fl_gripper">
+        <joint name="fl_joint7" value="0"/>
+        <joint name="fl_joint8" value="0"/>
+    </group_state>
+    <group_state name="open" group="fl_gripper">
+        <joint name="fl_joint7" value="0.0476"/>
+        <joint name="fl_joint8" value="0.0476"/>
+    </group_state>
+    <group_state name="close" group="fr_gripper">
+        <joint name="fr_joint7" value="0"/>
+        <joint name="fr_joint8" value="0"/>
+    </group_state>
+    <group_state name="open" group="fr_gripper">
+        <joint name="fr_joint7" value="0.0476"/>
+        <joint name="fr_joint8" value="0.0476"/>
+    </group_state>
+    <!-- <group_state name="close" group="lr_gripper">
+        <joint name="lr_joint7" value="0"/>
+        <joint name="lr_joint8" value="0"/>
+    </group_state>
+    <group_state name="open" group="lr_gripper">
+        <joint name="lr_joint7" value="0.0476"/>
+        <joint name="lr_joint8" value="0.0476"/>
+    </group_state>
+    <group_state name="close" group="rr_gripper">
+        <joint name="rr_joint7" value="0"/>
+        <joint name="rr_joint8" value="0"/>
+    </group_state>
+    <group_state name="open" group="rr_gripper">
+        <joint name="rr_joint7" value="0.0476"/>
+        <joint name="rr_joint8" value="0.0476"/>
+    </group_state> -->
+
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    
+    <disable_collisions link1="box" link2="box1_Link" reason="Default"/>
+    <disable_collisions link1="box" link2="box2_Link" reason="Never"/>
+    <disable_collisions link1="box" link2="fl_base_link" reason="Never"/>
+    <disable_collisions link1="box" link2="fl_link1" reason="Never"/>
+    <disable_collisions link1="box" link2="fl_link2" reason="Never"/>
+    <disable_collisions link1="box" link2="fl_link3" reason="Never"/>
+    <disable_collisions link1="box" link2="fl_link4" reason="Never"/>
+    <disable_collisions link1="box" link2="fl_link5" reason="Never"/>
+    <disable_collisions link1="box" link2="fl_link6" reason="Never"/>
+    <disable_collisions link1="box" link2="fl_link7" reason="Never"/>
+    <disable_collisions link1="box" link2="left_camera" reason="Never"/>
+    <disable_collisions link1="box" link2="fr_base_link" reason="Never"/>
+    <disable_collisions link1="box" link2="fr_link1" reason="Never"/>
+    <disable_collisions link1="box" link2="fr_link2" reason="Never"/>
+    <disable_collisions link1="box" link2="fr_link3" reason="Never"/>
+    <disable_collisions link1="box" link2="fr_link4" reason="Never"/>
+    <disable_collisions link1="box" link2="fr_link5" reason="Never"/>
+    <disable_collisions link1="box" link2="fr_link6" reason="Never"/>
+    <disable_collisions link1="box" link2="fr_link7" reason="Never"/>
+    <disable_collisions link1="box" link2="fr_link8" reason="Never"/>
+
+    <disable_collisions link1="box" link2="world" reason="Adjacent"/>
+    <disable_collisions link1="box1_Link" link2="box2_Link" reason="Adjacent"/>
+    <disable_collisions link1="box1_Link" link2="fl_base_link" reason="Never"/>
+    <disable_collisions link1="box1_Link" link2="fl_link1" reason="Never"/>
+    <disable_collisions link1="box1_Link" link2="fl_link2" reason="Never"/>
+    <disable_collisions link1="box1_Link" link2="fl_link3" reason="Never"/>
+    <disable_collisions link1="box1_Link" link2="fl_link4" reason="Never"/>
+    <disable_collisions link1="box1_Link" link2="fl_link5" reason="Never"/>
+    <disable_collisions link1="box1_Link" link2="fl_link6" reason="Never"/>
+    <disable_collisions link1="box1_Link" link2="fl_link7" reason="Never"/>
+    <disable_collisions link1="box1_Link" link2="left_camera" reason="Never"/>
+    <disable_collisions link1="box1_Link" link2="fl_link8" reason="Never"/>
+    <disable_collisions link1="box1_Link" link2="fr_base_link" reason="Never"/>
+    <disable_collisions link1="box1_Link" link2="fr_link1" reason="Never"/>
+    <disable_collisions link1="box1_Link" link2="fr_link2" reason="Never"/>
+    <disable_collisions link1="box1_Link" link2="fr_link3" reason="Never"/>
+    <disable_collisions link1="box1_Link" link2="fr_link4" reason="Never"/>
+    <disable_collisions link1="box1_Link" link2="fr_link5" reason="Never"/>
+    <disable_collisions link1="box1_Link" link2="fr_link6" reason="Never"/>
+    <disable_collisions link1="box1_Link" link2="fr_link7" reason="Never"/>
+    <disable_collisions link1="box1_Link" link2="fr_link8" reason="Never"/>
+
+    <disable_collisions link1="box1_Link" link2="world" reason="Adjacent"/>
+    <disable_collisions link1="box2_Link" link2="fl_base_link" reason="Never"/>
+    <disable_collisions link1="box2_Link" link2="fl_link1" reason="Never"/>
+    <disable_collisions link1="box2_Link" link2="fr_base_link" reason="Never"/>
+    <disable_collisions link1="box2_Link" link2="fr_link1" reason="Never"/>
+
+    <disable_collisions link1="box2_Link" link2="world" reason="Never"/>
+    <disable_collisions link1="fl_base_link" link2="fl_link1" reason="Adjacent"/>
+    <disable_collisions link1="fl_base_link" link2="fr_base_link" reason="Never"/>
+    <disable_collisions link1="fl_base_link" link2="fr_link1" reason="Never"/>
+    <disable_collisions link1="fl_base_link" link2="fr_link2" reason="Never"/>
+    <disable_collisions link1="fl_base_link" link2="fr_link3" reason="Never"/>
+
+    <disable_collisions link1="fl_base_link" link2="world" reason="Adjacent"/>
+    <disable_collisions link1="fl_link1" link2="fl_link2" reason="Adjacent"/>
+    <disable_collisions link1="fl_link1" link2="fr_base_link" reason="Never"/>
+    <disable_collisions link1="fl_link1" link2="fr_link1" reason="Never"/>
+    <disable_collisions link1="fl_link1" link2="fr_link2" reason="Never"/>
+    <disable_collisions link1="fl_link1" link2="fr_link3" reason="Never"/>
+    <disable_collisions link1="fl_link1" link2="fr_link6" reason="Never"/>
+
+    <disable_collisions link1="fl_link1" link2="world" reason="Never"/>
+    <disable_collisions link1="fl_link2" link2="fl_link3" reason="Adjacent"/>
+    <disable_collisions link1="fl_link2" link2="fr_base_link" reason="Never"/>
+    <disable_collisions link1="fl_link2" link2="fr_link1" reason="Never"/>
+    <disable_collisions link1="fl_link2" link2="fr_link2" reason="Never"/>
+
+    <disable_collisions link1="fl_link2" link2="world" reason="Never"/>
+    <disable_collisions link1="fl_link3" link2="fl_link4" reason="Adjacent"/>
+    <disable_collisions link1="fl_link3" link2="fr_base_link" reason="Never"/>
+    <disable_collisions link1="fl_link3" link2="fr_link1" reason="Never"/>
+    <!-- <disable_collisions link1="fl_link3" link2="rr_base_link" reason="Never"/>
+    <disable_collisions link1="fl_link3" link2="rr_link1" reason="Never"/>
+    <disable_collisions link1="fl_link3" link2="rr_link2" reason="Never"/>
+    <disable_collisions link1="fl_link3" link2="rr_link7" reason="Never"/>
+    <disable_collisions link1="fl_link3" link2="rr_link8" reason="Never"/> -->
+    <disable_collisions link1="fl_link3" link2="world" reason="Never"/>
+    <disable_collisions link1="fl_link4" link2="fl_link5" reason="Adjacent"/>
+    <disable_collisions link1="fl_link4" link2="fl_link7" reason="Never"/>
+    <disable_collisions link1="fl_link4" link2="left_camera" reason="Never"/>
+    <disable_collisions link1="fl_link4" link2="fl_link8" reason="Never"/>
+    <!-- <disable_collisions link1="fl_link4" link2="rr_base_link" reason="Never"/>
+    <disable_collisions link1="fl_link4" link2="rr_link1" reason="Never"/>
+    <disable_collisions link1="fl_link4" link2="rr_link2" reason="Never"/>
+    <disable_collisions link1="fl_link4" link2="rr_link6" reason="Never"/>
+    <disable_collisions link1="fl_link4" link2="rr_link7" reason="Never"/>
+    <disable_collisions link1="fl_link4" link2="rr_link8" reason="Never"/> -->
+    <disable_collisions link1="fl_link4" link2="world" reason="Never"/>
+    <disable_collisions link1="fl_link5" link2="fl_link6" reason="Adjacent"/>
+    <disable_collisions link1="fl_link5" link2="fl_link7" reason="Never"/>
+    <disable_collisions link1="fl_link5" link2="left_camera" reason="Never"/>
+    <disable_collisions link1="fl_link5" link2="fl_link8" reason="Never"/>
+    <!-- <disable_collisions link1="fl_link5" link2="rr_base_link" reason="Never"/>
+    <disable_collisions link1="fl_link5" link2="rr_link1" reason="Never"/>
+    <disable_collisions link1="fl_link5" link2="rr_link2" reason="Never"/>
+    <disable_collisions link1="fl_link5" link2="rr_link4" reason="Never"/>
+    <disable_collisions link1="fl_link5" link2="rr_link7" reason="Never"/> -->
+    <disable_collisions link1="fl_link5" link2="world" reason="Never"/>
+    <disable_collisions link1="fl_link6" link2="fl_link7" reason="Adjacent"/>
+    <disable_collisions link1="fl_link6" link2="left_camera" reason="Adjacent"/>
+    <disable_collisions link1="fl_link6" link2="fl_link8" reason="Adjacent"/>
+    <disable_collisions link1="fl_link6" link2="left_camera" reason="Adjacent"/>
+    <!-- <disable_collisions link1="fl_link6" link2="rr_base_link" reason="Never"/>
+    <disable_collisions link1="fl_link6" link2="rr_link1" reason="Never"/>
+    <disable_collisions link1="fl_link6" link2="rr_link2" reason="Never"/>
+    <disable_collisions link1="fl_link6" link2="rr_link4" reason="Never"/>
+    <disable_collisions link1="fl_link6" link2="rr_link5" reason="Never"/>
+    <disable_collisions link1="fl_link6" link2="rr_link6" reason="Never"/>
+    <disable_collisions link1="fl_link6" link2="rr_link7" reason="Never"/> -->
+    <disable_collisions link1="fl_link6" link2="world" reason="Never"/>
+    <disable_collisions link1="fl_link7" link2="fl_link8" reason="Never"/>
+    <disable_collisions link1="fl_link7" link2="lef_camera" reason="Never"/>
+    <!-- <disable_collisions link1="fl_link7" link2="rr_base_link" reason="Never"/>
+    <disable_collisions link1="fl_link7" link2="rr_link1" reason="Never"/>
+    <disable_collisions link1="fl_link7" link2="rr_link2" reason="Never"/>
+    <disable_collisions link1="fl_link7" link2="rr_link4" reason="Never"/>
+    <disable_collisions link1="fl_link7" link2="rr_link5" reason="Never"/>
+    <disable_collisions link1="fl_link7" link2="rr_link6" reason="Never"/> -->
+    <disable_collisions link1="fl_link7" link2="world" reason="Never"/>
+    <disable_collisions link1="fl_link8" link2="fr_link8" reason="Never"/>
+    <!-- <disable_collisions link1="fl_link8" link2="rr_base_link" reason="Never"/>
+    <disable_collisions link1="fl_link8" link2="rr_link1" reason="Never"/>
+    <disable_collisions link1="fl_link8" link2="rr_link2" reason="Never"/>
+    <disable_collisions link1="fl_link8" link2="rr_link3" reason="Never"/>
+    <disable_collisions link1="fl_link8" link2="rr_link4" reason="Never"/>
+    <disable_collisions link1="fl_link8" link2="rr_link5" reason="Never"/>
+    <disable_collisions link1="fl_link8" link2="rr_link6" reason="Never"/>
+    <disable_collisions link1="fl_link8" link2="rr_link7" reason="Never"/>
+    <disable_collisions link1="fl_link8" link2="rr_link8" reason="Never"/> -->
+    <disable_collisions link1="fl_link8" link2="world" reason="Never"/>
+    <disable_collisions link1="fr_base_link" link2="fr_link1" reason="Adjacent"/>
+    <!-- <disable_collisions link1="fr_base_link" link2="lr_base_link" reason="Never"/>
+    <disable_collisions link1="fr_base_link" link2="lr_link1" reason="Never"/>
+    <disable_collisions link1="fr_base_link" link2="lr_link2" reason="Never"/>
+    <disable_collisions link1="fr_base_link" link2="lr_link3" reason="Never"/>
+    <disable_collisions link1="fr_base_link" link2="lr_link4" reason="Never"/>
+    <disable_collisions link1="fr_base_link" link2="lr_link5" reason="Never"/>
+    <disable_collisions link1="fr_base_link" link2="lr_link6" reason="Never"/>
+    <disable_collisions link1="fr_base_link" link2="lr_link7" reason="Never"/>
+    <disable_collisions link1="fr_base_link" link2="lr_link8" reason="Never"/> -->
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+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 4.2.0 commit date:2024-07-16, commit time:06:20, hash:a51f293548ad</authoring_tool>
+    </contributor>
+    <created>2024-07-25T15:46:03</created>
+    <modified>2024-07-25T15:46:03</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
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444 444 390 390 599 599 390 390 596 596 596 596 390 390 389 389 391 391 601 601 389 389 389 389 601 601 600 600 389 389 600 600 596 596 597 597 360 360 381 381 597 597 381 381 594 594 594 594 381 381 380 380 594 594 380 380 592 592 482 482 481 481 591 591 592 592 380 380 591 591 591 591 380 380 379 379 591 591 379 379 482 482 494 494 347 347 337 337 494 494 337 337 496 496 496 496 337 337 370 370 496 496 370 370 376 376 605 605 365 365 370 370 339 339 606 606 337 337 607 607 358 358 446 446 608 608 609 609 446 446 446 446 609 609 610 610 446 446 610 610 607 607 608 608 446 446 611 611 611 611 446 446 612 612 611 611 612 612 606 606 612 612 613 613 606 606 606 606 613 613 614 614 606 606 614 614 615 615 370 370 337 337 605 605 605 605 337 337 606 606 605 605 606 606 616 616 616 616 606 606 615 615 315 315 313 313 311 311 537 537 321 321 319 319 540 540 539 539 541 541 541 541 539 539 315 315 541 541 315 315 309 309 309 309 315 315 311 311 539 539 538 538 315 315 315 315 538 538 537 537 315 315 537 537 317 317 317 317 537 537 319 319 329 329 327 327 325 325 323 323 536 536 325 325 325 325 536 536 535 535 325 325 535 535 534 534 335 335 333 333 532 532 532 532 333 333 331 331 331 331 329 329 532 532 532 532 329 329 325 325 532 532 325 325 533 533 533 533 325 325 534 534 347 347 494 494 507 507 347 347 507 507 348 348 348 348 507 507 506 506 348 348 506 506 349 349 349 349 506 506 493 493 349 349 493 493 336 336 496 496 376 376 378 378 496 496 378 378 504 504 504 504 378 378 377 377 504 504 377 377 505 505 505 505 377 377 373 373 505 505 373 373 502 502 606 606 339 339 353 353 354 354 608 608 353 353 353 353 608 608 611 611 353 353 611 611 606 606 358 358 607 607 355 355 355 355 607 607 610 610 355 355 610 610 354 354 354 354 610 610 609 609 354 354 609 609 608 608 446 446 368 368 612 612 612 612 368 368 369 369 612 612 369 369 613 613 616 616 615 615 369 369 369 369 615 615 614 614 369 369 614 614 613 613 369 369 366 366 616 616 616 616 366 366 365 365 616 616 365 365 605 605</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="camera_base_link" name="camera_base_link" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#camera_base_link-mesh" name="camera_base_link">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="粗糙不锈钢__1-material" target="#粗糙不锈钢__1-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

aloha_maniskill_sim/urdf/aloha_maniskill_sim/meshes/camera_link1.STL

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+size 11547734

aloha_maniskill_sim/urdf/aloha_maniskill_sim/meshes/camera_link1.dae

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+size 43398455

aloha_maniskill_sim/urdf/aloha_maniskill_sim/meshes/camera_link2.STL

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+size 11547734

aloha_maniskill_sim/urdf/aloha_maniskill_sim/meshes/camera_link2.dae

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