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<?xml version="1.0" encoding="utf-8" ?> |
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<robot name="arx5_description" xmlns:xacro="http://www.ros.org/wiki/xacro"> |
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<link name="footprint"> |
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</link> |
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<link name="base_link"> |
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<visual> |
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<origin xyz="0 0 0" rpy="1.57 0 0"/> |
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<geometry> |
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<mesh filename="aloha_maniskill_sim/meshes/tracer_base_link.dae" /> |
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{base_x_size}{base_y_size}{base_z_size} |
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</geometry> |
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</visual> |
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<collision> |
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<origin xyz="0 0 0" rpy="1.57 0 0"/> |
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<geometry> |
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<box size="0.35 0.1 0.35"/> |
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</geometry> |
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</collision> |
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</link> |
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<link name="inertial_link"> |
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<inertial> |
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<mass value="132.3898489950015" /> |
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<origin xyz="0.015 0.0231316650320557 0" /> |
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<inertia ixx="0.185196122711036" |
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ixy="4.30144213829512E-08" |
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ixz="5.81037523686401E-08" |
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iyy="0.364893736238929" |
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iyz="-0.000386720198091934" |
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izz="0.223868521722778" /> |
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</inertial> |
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</link> |
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<joint name="inertial_joint" type="fixed"> |
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<origin xyz="0 0 0" rpy="0 0 0" /> |
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<parent link="base_link" /> |
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<child link="inertial_link" /> |
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</joint> |
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<link name="right_wheel_link"> |
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<inertial> |
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<mass value="6" /> |
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<origin xyz="0 0 0" /> |
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" /> |
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</inertial> |
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<visual> |
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<origin xyz="0 0 0" rpy="0 0 0" /> |
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<geometry> |
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<mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> |
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</geometry> |
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</visual> |
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<collision> |
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<origin |
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xyz="0 0 0" |
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rpy="1.57 0 0" /> |
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<geometry> |
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<cylinder radius="0.05" length="0.05" /> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="right_wheel" type="continuous"> |
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<parent link="base_link"/> |
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<child link="right_wheel_link"/> |
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<origin xyz="0 -0.17 -0.082" rpy="0 0 0" /> |
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<axis xyz="0 1 0" rpy="0 0 0" /> |
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</joint> |
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<link name="left_wheel_link"> |
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<inertial> |
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<mass value="6" /> |
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<origin xyz="0 0 0" /> |
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" /> |
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</inertial> |
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<visual> |
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<origin xyz="0 0 0" rpy="0 0 0" /> |
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<geometry> |
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<mesh filename="aloha_maniskill_sim/meshes/tracer_wheel.dae" /> |
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</geometry> |
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</visual> |
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<collision> |
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<origin |
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xyz="0 0 0" |
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rpy="1.57 0 0" /> |
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<geometry> |
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<cylinder radius="0.05" length="0.05" /> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="left_wheel" type="continuous"> |
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<parent link="base_link"/> |
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<child link="left_wheel_link"/> |
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<origin xyz="0 0.17 -0.082" rpy="0 0 0" /> |
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<axis xyz="0 1 0" rpy="0 0 0" /> |
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</joint> |
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<link name="fl_castor_link"> |
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<inertial> |
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<mass value="1" /> |
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<origin xyz="0 0 0" /> |
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" /> |
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</inertial> |
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<visual> |
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<geometry> |
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<mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" /> |
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</geometry> |
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</visual> |
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</link> |
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<joint name="fl_castor_wheel" type="continuous"> |
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<parent link="base_link" /> |
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<child link="fl_castor_link" /> |
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<origin xyz="0.19 0.17 -0.038" rpy="-1.57 0 0" /> |
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<axis xyz="0 1 0" rpy="0 0 0" /> |
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</joint> |
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<link name="fr_castor_link"> |
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<inertial> |
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<mass value="1" /> |
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<origin xyz="0 0 0" /> |
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" /> |
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</inertial> |
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<visual> |
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<geometry> |
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<mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" /> |
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</geometry> |
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</visual> |
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</link> |
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<joint name="fr_castor_wheel" type="continuous"> |
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<origin xyz="0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" /> |
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<parent link="base_link" /> |
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<child link="fr_castor_link" /> |
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<axis xyz="0 1 0" rpy="0 0 0" /> |
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</joint> |
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<link name="rr_castor_link"> |
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<inertial> |
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<mass value="1" /> |
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<origin xyz="0 0 0" /> |
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" /> |
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</inertial> |
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<visual> |
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<geometry> |
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<mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" /> |
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</geometry> |
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</visual> |
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</link> |
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<joint name="rr_castor_wheel" type="continuous"> |
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<origin xyz="-0.18955 -0.17 -0.0380886" rpy="-1.57 0 0" /> |
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<parent link="base_link" /> |
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<child link="rr_castor_link" /> |
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<axis xyz="0 1 0" rpy="0 0 0" /> |
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</joint> |
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<link name="rl_castor_link"> |
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<inertial> |
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<mass value="1" /> |
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<origin xyz="0 0 0" /> |
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" /> |
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</inertial> |
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<visual> |
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<geometry> |
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<mesh filename="aloha_maniskill_sim/meshes/castor_joint.dae" /> |
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</geometry> |
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</visual> |
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</link> |
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<joint name="rl_castor_wheel" type="continuous"> |
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<origin xyz="-0.18955 0.17 -0.0380886" rpy="-1.57 0 0" /> |
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<parent link="base_link" /> |
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<child link="rl_castor_link" /> |
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<axis xyz="0 1 0" rpy="0 0 0" /> |
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</joint> |
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<link name="fl_wheel_link"> |
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<inertial> |
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<mass value="1" /> |
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<origin xyz="0 0 0" /> |
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<inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" /> |
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</inertial> |
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<visual> |
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<geometry> |
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<mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> |
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</geometry> |
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</visual> |
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<collision> |
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<origin |
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xyz="0 0 0" |
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rpy="0 0 0" /> |
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<geometry> |
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<cylinder radius="0.025" length="0.025" /> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="fl_wheel" type="continuous"> |
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<parent link="fl_castor_link"/> |
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<child link="fl_wheel_link"/> |
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<dynamics damping="0.0" friction="0.0"/> |
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<origin xyz="-0.0218084 0.077 0" rpy="0 0 0" /> |
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<axis xyz="0 0 1" rpy="0 0 0" /> |
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</joint> |
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<link name="fr_wheel_link"> |
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<inertial> |
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<mass value="1" /> |
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<origin xyz="0 0 0" /> |
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<inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" /> |
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</inertial> |
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<visual> |
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<geometry> |
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<mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> |
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</geometry> |
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</visual> |
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<collision> |
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<origin |
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xyz="0 0 0" |
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rpy="0 0 0" /> |
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<geometry> |
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<cylinder radius="0.025" length="0.025" /> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="fr_wheel" type="continuous"> |
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<parent link="fr_castor_link"/> |
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<child link="fr_wheel_link"/> |
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<dynamics damping="0.0" friction="0.0"/> |
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<origin xyz="-0.0218084 0.077 0" rpy="0 0 0" /> |
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<axis xyz="0 0 1" rpy="0 0 0" /> |
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</joint> |
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<link name="rr_wheel_link"> |
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<inertial> |
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<mass value="1" /> |
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<origin xyz="0 0 0" /> |
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<inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" /> |
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</inertial> |
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<visual> |
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<geometry> |
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<mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> |
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</geometry> |
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</visual> |
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<collision> |
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<origin |
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xyz="0 0 0" |
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rpy="0 0 0" /> |
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<geometry> |
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<cylinder radius="0.025" length="0.025" /> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="rr_wheel" type="continuous"> |
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<parent link="rr_castor_link"/> |
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<child link="rr_wheel_link"/> |
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<dynamics damping="0.0" friction="0.0"/> |
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<origin xyz="-0.0218084 0.077 0" rpy="0 0 0" /> |
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<axis xyz="0 0 1" rpy="0 0 0" /> |
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</joint> |
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<link name="rl_wheel_link"> |
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<inertial> |
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<mass value="1" /> |
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<origin xyz="0 0 0" /> |
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<inertia ixx="0.3131" ixy="0" ixz="0" iyy="0.3131" iyz="0" izz="0.1361" /> |
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</inertial> |
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<visual> |
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<geometry> |
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<mesh filename="aloha_maniskill_sim/meshes/castor.dae" /> |
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</geometry> |
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</visual> |
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<collision> |
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<origin |
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xyz="0 0 0" |
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rpy="0 0 0" /> |
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<geometry> |
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|
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<cylinder radius="0.025" length="0.025" /> |
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</geometry> |
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</collision> |
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</link> |
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|
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<joint name="rl_wheel" type="continuous"> |
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<parent link="rl_castor_link"/> |
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<child link="rl_wheel_link"/> |
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<dynamics damping="0.0" friction="0.0"/> |
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<origin xyz="-0.0218084 0.077 0" rpy="0 0 0" /> |
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<axis xyz="0 0 1" rpy="0 0 0" /> |
|
</joint> |
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|
|
|
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<joint name="box_joint" type="fixed"> |
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<origin xyz="0 0 0.15" rpy="0 0 0" /> |
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<parent link="footprint" /> |
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<child link="base_link" /> |
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<axis xyz="0 0 0" /> |
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</joint> |
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<link name="box1_Link"> |
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<inertial> |
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<origin xyz="-0.17227 -0.0012276 0.023432" rpy="0 0 0" /> |
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<mass value="0.00014994" /> |
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<inertia ixx="0.012264" ixy="-9.2432E-06" ixz="0.0001761" iyy="0.0045226" iyz="-0.00063248" izz="0.016558" /> |
|
</inertial> |
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<visual> |
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<origin xyz="0 0 0" rpy="-0.05 0 0" /> |
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<geometry> |
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<mesh filename="package://aloha_maniskill_sim/meshes/box1_Link.STL" /> |
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</geometry> |
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<material name=""> |
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<color rgba="0.79216 0.81961 0.93333 1" /> |
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</material> |
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</visual> |
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<collision> |
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<origin xyz="0 0 0" rpy="-0.05 0 0" /> |
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<geometry> |
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<mesh filename="package://aloha_maniskill_sim/meshes/box1_Link.STL" /> |
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</geometry> |
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</collision> |
|
</link> |
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<joint name="box1" type="fixed"> |
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<origin xyz="0 0 0.15" rpy="0 0 0" /> |
|
<parent link="footprint" /> |
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<child link="box1_Link" /> |
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<axis xyz="0 0 0" /> |
|
</joint> |
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<link name="box2_Link"> |
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<inertial> |
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<origin xyz="0.015107 -0.027922 0.00013672" rpy="0 0 0" /> |
|
<mass value="3.736" /> |
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<inertia ixx="0.097545" ixy="-9.2609E-06" ixz="0.00015366" iyy="0.045841" iyz="-0.0020459" izz="0.084773" /> |
|
</inertial> |
|
<visual> |
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<origin xyz="0 0 0" rpy="0 0 3.141592653589323846" /> |
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<geometry> |
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<mesh filename="package://aloha_maniskill_sim/meshes/box2_Link.dae" /> |
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</geometry> |
|
</visual> |
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<collision> |
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<origin xyz="0 0 0" rpy="0 0 3.141592653589323846" /> |
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<geometry> |
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<mesh filename="package://aloha_maniskill_sim/meshes/box2_Link.dae" /> |
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</geometry> |
|
</collision> |
|
</link> |
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<joint name="box2" type="fixed"> |
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<origin xyz="0.158 -0.385 -0.135" rpy="0 0 0" /> |
|
<parent link="box1_Link" /> |
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<child link="box2_Link" /> |
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<axis xyz="0 0 0" /> |
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</joint> |
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|
|
|
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<link |
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name="camera_base_link"> |
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<inertial> |
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<origin |
|
xyz="-0.00862442289199344 -5.31672329634469E-08 0.170092831004467" |
|
rpy="0 0 0" /> |
|
<mass |
|
value="0.336269569361489" /> |
|
<inertia |
|
ixx="0.00580628296841397" |
|
ixy="3.98435937176716E-10" |
|
ixz="-2.42350052877161E-05" |
|
iyy="0.00582602200678083" |
|
iyz="2.9180594404216E-10" |
|
izz="0.000186894283496158" /> |
|
</inertial> |
|
<visual> |
|
<origin |
|
xyz="0 0 0" |
|
rpy="0 0 0" /> |
|
<geometry> |
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<mesh |
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filename="package://aloha_maniskill_sim/meshes/camera_base_link.STL" /> |
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</geometry> |
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|
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|
|
|
|
|
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</visual> |
|
<collision> |
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<origin |
|
xyz="0 0 0" |
|
rpy="0 0 0" /> |
|
<geometry> |
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<mesh |
|
filename="package://aloha_maniskill_sim/meshes/camera_base_link.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
|
|
<joint name="camera_to_box1" type="fixed"> |
|
<origin xyz="0.18 0 0.626" rpy="0 0 0" /> |
|
<parent link="box1_Link" /> |
|
<child link="camera_base_link" /> |
|
<axis xyz="0 0 0" /> |
|
</joint> |
|
|
|
<link |
|
name="camera_link1"> |
|
<inertial> |
|
<origin |
|
xyz="-0.0292387906463559 0.000126439620513119 -0.000724950892729725" |
|
rpy="0 0 0" /> |
|
<mass |
|
value="0.0877001598245188" /> |
|
<inertia |
|
ixx="7.77343248794949E-05" |
|
ixy="2.44922634558373E-07" |
|
ixz="1.73341747661077E-08" |
|
iyy="9.73521513961785E-06" |
|
iyz="-2.86133018917868E-09" |
|
izz="7.74948757118157E-05" /> |
|
</inertial> |
|
<visual> |
|
<origin |
|
xyz="0 0 0" |
|
rpy="0 0 0" /> |
|
<geometry> |
|
<mesh |
|
filename="package://aloha_maniskill_sim/meshes/camera_link1.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin |
|
xyz="0 0 0" |
|
rpy="0 0 0" /> |
|
<geometry> |
|
<mesh |
|
filename="package://aloha_maniskill_sim/meshes/camera_link1.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="camera_joint1" type="fixed"> |
|
<origin xyz="0.071198 0 0.10384" rpy="0 0.26931 0" /> |
|
<parent link="camera_base_link" /> |
|
<child link="camera_link1" /> |
|
<axis xyz="0 0 0" ryp="0 0 0"/> |
|
</joint> |
|
<link name="camera_link2"> |
|
<inertial> |
|
<origin xyz="-0.0292307474530399 0.000126438461566014 -0.000753459207498031" rpy="0 0 0" /> |
|
<mass value="0.0877001605148491" /> |
|
<inertia |
|
ixx="7.77338961798341E-05" |
|
ixy="2.44922367048273E-07" |
|
ixz="1.80373226250749E-08" |
|
iyy="9.73521616927317E-06" |
|
iyz="-2.86130173714525E-09" |
|
izz="7.74953085203139E-05" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh |
|
filename="package://aloha_maniskill_sim/meshes/camera_link2.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh |
|
filename="package://aloha_maniskill_sim/meshes/camera_link2.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="camera_joint2" type="fixed"> |
|
|
|
<origin xyz="-0.14 0 0.5" rpy="0 0.011358 0" /> |
|
<parent link="camera_link1" /> |
|
<child link="camera_link2" /> |
|
<axis |
|
xyz="0 0 0" /> |
|
</joint> |
|
|
|
|
|
|
|
<link name="fl_base_link"> |
|
<inertial> |
|
<origin xyz="-3.77960552443097E-05 6.79413834922362E-05 0.0272675975957773" rpy="0 0 0" /> |
|
<mass value="0.155112526591278" /> |
|
<inertia ixx="7.60347373757683E-05" ixy="1.31363578468253E-07" ixz="1.65990805634842E-07" iyy="7.64176389864096E-05" iyz="-2.98381448658278E-07" izz="6.94914158355665E-05" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/base_arm.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/base_arm.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="fl_base_joint" type="fixed"> |
|
<origin xyz="0.233 0.3 0.7775" rpy="0.0 0.0 0.0" /> |
|
<parent link="footprint" /> |
|
<child link="fl_base_link" /> |
|
<axis xyz="0.0 0.0 1.0" /> |
|
</joint> |
|
|
|
<link name="fl_link1"> |
|
<inertial> |
|
<origin xyz="0.00625345254733769 -0.024776724575416 0.0152204909116542" rpy="0 0 0" /> |
|
<mass value="0.0216291264377367" /> |
|
<inertia |
|
ixx="1.15756471313396E-05" |
|
ixy="1.63728784702967E-06" |
|
ixz="-2.73767909517805E-06" |
|
iyy="9.54605859943272E-06" |
|
iyz="3.01605409074901E-06" |
|
izz="1.06781021447089E-05" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link1.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link1.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="fl_joint1" type="revolute"> |
|
<origin xyz="0 0 0.058" rpy="0 0 0" /> |
|
<parent link="fl_base_link" /> |
|
<child link="fl_link1" /> |
|
<axis xyz="0 0 1" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link name="fl_link2"> |
|
<inertial> |
|
<origin xyz="-0.0751817740450955 3.45134309138919E-06 -4.55690287344823E-05" rpy="0 0 0" /> |
|
<mass value="0.317040634327494" /> |
|
<inertia |
|
ixx="0.000148622978788109" |
|
ixy="7.9939701538228E-06" |
|
ixz="2.11594522192149E-06" |
|
iyy="0.000646291918352959" |
|
iyz="-1.99305353242084E-08" |
|
izz="0.000613128041834933" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link2.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link2.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="fl_joint2" type="revolute"> |
|
<origin xyz="0.025013 0.00060169 0.042" rpy="0 0 0" /> |
|
<parent link="fl_link1" /> |
|
<child link="fl_link2" /> |
|
<axis xyz="0 1 0" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link name="fl_link3"> |
|
<inertial> |
|
<origin xyz="0.0958977122336034 -8.54798924280289E-05 -0.0389029227802006" rpy="0 0 0" /> |
|
<mass value="0.475179901151789" /> |
|
<inertia |
|
ixx="0.000245797731408424" |
|
ixy="-1.18756934981885E-06" |
|
ixz="-3.08627546217305E-07" |
|
iyy="0.000848596965773723" |
|
iyz="2.1655980060709E-07" |
|
izz="0.00073290848648715" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link3.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link3.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="fl_joint3" type="revolute"> |
|
<origin xyz="-0.26396 0.0044548 0" rpy="-3.1416 0 -0.015928" /> |
|
<parent link="fl_link2" /> |
|
<child link="fl_link3" /> |
|
<axis xyz="0 1 0" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link name="fl_link4"> |
|
<inertial> |
|
<origin xyz="0.0591385266744759 0.00278044811499105 -0.0552291926495377" rpy="0 0 0" /> |
|
<mass value="0.138133633872797" /> |
|
<inertia |
|
ixx="5.6812931750694E-05" |
|
ixy="3.18564570369191E-06" |
|
ixz="3.31187610383292E-06" |
|
iyy="5.56751697137782E-05" |
|
iyz="-2.13897740775086E-06" |
|
izz="6.42957251144152E-05" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link4.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link4.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="fl_joint4" type="revolute"> |
|
<origin xyz="0.246 -0.00025 -0.06" rpy="0 0 0" /> |
|
<parent link="fl_link3" /> |
|
<child link="fl_link4" /> |
|
<axis xyz="0 1 0" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link name="fl_link5"> |
|
<inertial> |
|
<origin xyz="0.00870303426445659 -2.87406901246252E-05 0.0817957433312705" rpy="0 0 0" /> |
|
<mass value="0.126741777607625" /> |
|
<inertia |
|
ixx="5.2870226427243E-05" |
|
ixy="-3.41758559092594E-08" |
|
ixz="1.05281937338646E-06" |
|
iyy="4.14245046680039E-05" |
|
iyz="-7.47381113966083E-08" |
|
izz="4.46265559731496E-05" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link5.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link5.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="fl_joint5" type="revolute"> |
|
<origin xyz="0.06775 0.0015 -0.0855" rpy="0 0 -0.015928" /> |
|
<parent link="fl_link4" /> |
|
<child link="fl_link5" /> |
|
<axis xyz="0 0 1" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link name="fl_link6"> |
|
<inertial> |
|
<origin xyz="0.038317562848284 -4.45000434657139E-05 0.00355875192843721" rpy="0 0 0" /> |
|
<mass value="0.142880100739169" /> |
|
<inertia |
|
ixx="9.84190386012445E-05" |
|
ixy="9.90777828593097E-08" |
|
ixz="2.38841662850396E-07" |
|
iyy="3.95328645641678E-05" |
|
iyz="2.8992956673539E-07" |
|
izz="8.4711562610471E-05" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link6.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link6.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="fl_joint6" type="revolute"> |
|
<origin xyz="0.03095 0 0.0855" rpy="-3.1416 0 0" /> |
|
<parent link="fl_link5" /> |
|
<child link="fl_link6" /> |
|
<axis xyz="1 0 0" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
|
|
|
|
<link name="left_camera"> |
|
<visual> |
|
<origin xyz="0 -0.032 0" rpy="1.57 0 1.57"/> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/d435.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 -0.032 0" rpy="0 0 0"/> |
|
<geometry> |
|
<box size="0.025 0.090 0.025"/> |
|
</geometry> |
|
</collision> |
|
<inertial> |
|
<mass value="0.1"/> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/> |
|
</inertial> |
|
</link> |
|
|
|
|
|
<joint name="left_camera_joint" type="fixed"> |
|
<parent link="fl_link6"/> |
|
<child link="left_camera"/> |
|
<origin xyz="0.07 0.032 0.065" rpy="0 0.4 0"/> |
|
|
|
</joint> |
|
|
|
<link name="fl_link7"> |
|
<inertial> |
|
<origin xyz="0.00626222055030923 -0.00713411663149576 -0.00289898514345116" rpy="0 0 0" /> |
|
<mass value="0.0264779585598598" /> |
|
<inertia |
|
ixx="8.79642526953154E-06" |
|
ixy="3.0244685599285E-06" |
|
ixz="-5.99353466596085E-07" |
|
iyy="1.48519274221679E-05" |
|
iyz="1.31550651321036E-07" |
|
izz="1.1114142640444E-05" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link7.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link7.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="fl_joint7" type="prismatic"> |
|
<origin xyz="0.08457 0.024493 -0.00010349" rpy="0 0 0" /> |
|
<parent link="fl_link6" /> |
|
<child link="fl_link7" /> |
|
<axis xyz="0 1 0" /> |
|
<limit lower="0" upper="0.04765" effort="100" velocity="1000" /> |
|
</joint> |
|
<link name="fl_link8"> |
|
<inertial> |
|
<origin xyz="0.00626222057480438 0.00713411644936678 0.00145300478837504" rpy="0 0 0" /> |
|
<mass value="0.0264779581346586" /> |
|
<inertia |
|
ixx="9.01311523396113E-06" |
|
ixy="-3.02446856817399E-06" |
|
ixz="1.52593574709739E-06" |
|
iyy="1.50686174477573E-05" |
|
iyz="5.73251417689975E-07" |
|
izz="1.11141426397578E-05" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link8.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link8.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="fl_joint8" type="prismatic"> |
|
<origin xyz="0.08457 -0.024496 -0.00010354" rpy="0 0 0" /> |
|
<parent link="fl_link6" /> |
|
<child link="fl_link8" /> |
|
<axis xyz="0 -1 0" /> |
|
<limit lower="0" upper="0.04765" effort="100" velocity="1000" /> |
|
</joint> |
|
|
|
<link name="fr_base_link"> |
|
<inertial> |
|
<origin xyz="-3.77960552443097E-05 6.79413834922362E-05 0.0272675975957773" rpy="0 0 0" /> |
|
<mass value="0.155112526591278" /> |
|
<inertia ixx="7.60347373757683E-05" ixy="1.31363578468253E-07" ixz="1.65990805634842E-07" iyy="7.64176389864096E-05" iyz="-2.98381448658278E-07" izz="6.94914158355665E-05" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/base_arm.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/base_arm.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
|
|
<joint name="fr_base_joint" type="fixed"> |
|
<origin xyz="0.233 -0.3 0.7775" rpy="0.0 0.0 0.0" /> |
|
<parent link="footprint" /> |
|
<child link="fr_base_link" /> |
|
<axis xyz="0.0 0.0 1.0" /> |
|
</joint> |
|
|
|
<link name="fr_link1"> |
|
<inertial> |
|
<origin xyz="0.00625345254733769 -0.024776724575416 0.0152204909116542" rpy="0 0 0" /> |
|
<mass value="0.0216291264377367" /> |
|
<inertia |
|
ixx="1.15756471313396E-05" |
|
ixy="1.63728784702967E-06" |
|
ixz="-2.73767909517805E-06" |
|
iyy="9.54605859943272E-06" |
|
iyz="3.01605409074901E-06" |
|
izz="1.06781021447089E-05" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link1.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link1.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="fr_joint1" type="revolute"> |
|
<origin xyz="0 0 0.058" rpy="0 0 0" /> |
|
<parent link="fr_base_link" /> |
|
<child link="fr_link1" /> |
|
<axis xyz="0 0 1" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link |
|
name="fr_link2"> |
|
<inertial> |
|
<origin xyz="-0.0751817740450955 3.45134309138919E-06 -4.55690287344823E-05" rpy="0 0 0" /> |
|
<mass value="0.317040634327494" /> |
|
<inertia |
|
ixx="0.000148622978788109" |
|
ixy="7.9939701538228E-06" |
|
ixz="2.11594522192149E-06" |
|
iyy="0.000646291918352959" |
|
iyz="-1.99305353242084E-08" |
|
izz="0.000613128041834933" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link2.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link2.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="fr_joint2" type="revolute"> |
|
<origin xyz="0.025013 0.00060169 0.042" rpy="0 0 0" /> |
|
<parent link="fr_link1" /> |
|
<child link="fr_link2" /> |
|
<axis xyz="0 1 0" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link |
|
name="fr_link3"> |
|
<inertial> |
|
<origin xyz="0.0958977122336034 -8.54798924280289E-05 -0.0389029227802006" rpy="0 0 0" /> |
|
<mass value="0.475179901151789" /> |
|
<inertia |
|
ixx="0.000245797731408424" |
|
ixy="-1.18756934981885E-06" |
|
ixz="-3.08627546217305E-07" |
|
iyy="0.000848596965773723" |
|
iyz="2.1655980060709E-07" |
|
izz="0.00073290848648715" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link3.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link3.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="fr_joint3" type="revolute"> |
|
<origin xyz="-0.26396 0.0044548 0" rpy="-3.1416 0 -0.015928" /> |
|
<parent link="fr_link2" /> |
|
<child link="fr_link3" /> |
|
<axis xyz="0 1 0" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link |
|
name="fr_link4"> |
|
<inertial> |
|
<origin xyz="0.0591385266744759 0.00278044811499105 -0.0552291926495377" rpy="0 0 0" /> |
|
<mass value="0.138133633872797" /> |
|
<inertia |
|
ixx="5.6812931750694E-05" |
|
ixy="3.18564570369191E-06" |
|
ixz="3.31187610383292E-06" |
|
iyy="5.56751697137782E-05" |
|
iyz="-2.13897740775086E-06" |
|
izz="6.42957251144152E-05" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link4.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link4.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="fr_joint4" type="revolute"> |
|
<origin xyz="0.246 -0.00025 -0.06" rpy="0 0 0" /> |
|
<parent link="fr_link3" /> |
|
<child link="fr_link4" /> |
|
<axis xyz="0 1 0" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link |
|
name="fr_link5"> |
|
<inertial> |
|
<origin xyz="0.00870303426445659 -2.87406901246252E-05 0.0817957433312705" rpy="0 0 0" /> |
|
<mass value="0.126741777607625" /> |
|
<inertia |
|
ixx="5.2870226427243E-05" |
|
ixy="-3.41758559092594E-08" |
|
ixz="1.05281937338646E-06" |
|
iyy="4.14245046680039E-05" |
|
iyz="-7.47381113966083E-08" |
|
izz="4.46265559731496E-05" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link5.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link5.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="fr_joint5" type="revolute"> |
|
<origin xyz="0.06775 0.0015 -0.0855" rpy="0 0 -0.015928" /> |
|
<parent link="fr_link4" /> |
|
<child link="fr_link5" /> |
|
<axis xyz="0 0 1" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link name="fr_link6"> |
|
<inertial> |
|
<origin xyz="0.038317562848284 -4.45000434657139E-05 0.00355875192843721" rpy="0 0 0" /> |
|
<mass value="0.142880100739169" /> |
|
<inertia |
|
ixx="9.84190386012445E-05" |
|
ixy="9.90777828593097E-08" |
|
ixz="2.38841662850396E-07" |
|
iyy="3.95328645641678E-05" |
|
iyz="2.8992956673539E-07" |
|
izz="8.4711562610471E-05" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link6.dae" /> |
|
</geometry> |
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link6.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="fr_joint6" type="revolute"> |
|
<origin xyz="0.03095 0 0.0855" rpy="-3.1416 0 0" /> |
|
<parent link="fr_link5" /> |
|
<child link="fr_link6" /> |
|
<axis xyz="1 0 0" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
|
|
|
|
|
|
<link name="right_camera"> |
|
<visual> |
|
<origin xyz="0 -0.032 0" rpy="1.57 0 1.57"/> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/d435.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 -0.032 0" rpy="0 0 0"/> |
|
<geometry> |
|
<box size="0.025 0.090 0.025"/> |
|
</geometry> |
|
</collision> |
|
<inertial> |
|
<mass value="0.1"/> |
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/> |
|
</inertial> |
|
</link> |
|
|
|
|
|
<joint name="right_camera_joint" type="fixed"> |
|
<parent link="fr_link6"/> |
|
<child link="right_camera"/> |
|
<origin xyz="0.07 0.032 0.065" rpy="0 0.4 0"/> |
|
</joint> |
|
|
|
<link name="fr_link7"> |
|
<inertial> |
|
<origin xyz="0.00626222055030923 -0.00713411663149576 -0.00289898514345116" rpy="0 0 0" /> |
|
<mass value="0.0264779585598598" /> |
|
<inertia |
|
ixx="8.79642526953154E-06" |
|
ixy="3.0244685599285E-06" |
|
ixz="-5.99353466596085E-07" |
|
iyy="1.48519274221679E-05" |
|
iyz="1.31550651321036E-07" |
|
izz="1.1114142640444E-05" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link7.dae" /> |
|
</geometry> |
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link7.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="fr_joint7" type="prismatic"> |
|
<origin xyz="0.08457 0.024493 -0.00010349" rpy="0 0 0" /> |
|
<parent link="fr_link6" /> |
|
<child link="fr_link7" /> |
|
<axis xyz="0 1 0" /> |
|
<limit lower="0" upper="0.04765" effort="100" velocity="1000" /> |
|
</joint> |
|
<link name="fr_link8"> |
|
<inertial> |
|
<origin xyz="0.00626222057480438 0.00713411644936678 0.00145300478837504" rpy="0 0 0" /> |
|
<mass value="0.0264779581346586" /> |
|
<inertia |
|
ixx="9.01311523396113E-06" |
|
ixy="-3.02446856817399E-06" |
|
ixz="1.52593574709739E-06" |
|
iyy="1.50686174477573E-05" |
|
iyz="5.73251417689975E-07" |
|
izz="1.11141426397578E-05" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link8.dae" /> |
|
</geometry> |
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link8.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="fr_joint8" type="prismatic"> |
|
<origin xyz="0.08457 -0.024496 -0.00010354" rpy="0 0 0" /> |
|
<parent link="fr_link6" /> |
|
<child link="fr_link8" /> |
|
<axis xyz="0 -1 0" /> |
|
<limit lower="0" upper="0.04765" effort="100" velocity="1000" /> |
|
</joint> |
|
|
|
<link name="lr_base_link"> |
|
<inertial> |
|
<origin xyz="-2.9972E-05 3.056E-05 0.027301" rpy="0 0 0" /> |
|
<mass value="0.44038" /> |
|
<inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00018" iyz="0.00000" izz="0.00016" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/base_arm.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/base_arm.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="lr_base_joint" type="fixed"> |
|
<origin xyz="-0.309 0.307 0.903" rpy="0.0 0.0 0.0" /> |
|
<parent link="footprint" /> |
|
<child link="lr_base_link" /> |
|
<axis xyz="0.0 0.0 1.0" /> |
|
</joint> |
|
<link name="lr_link1"> |
|
<inertial> |
|
<origin xyz="0.00609525411893452 -0.00429681977500749 0.0179590247477389" rpy="0 0 0" /> |
|
<mass value="0.0608351104988555" /> |
|
<inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00007" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link1.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link1.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="lr_joint1" type="revolute"> |
|
<origin xyz="0 0 0.0603" rpy="0 0 0" /> |
|
<parent link="lr_base_link" /> |
|
<child link="lr_link1" /> |
|
<axis xyz="0 0 1" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link name="lr_link2"> |
|
<inertial> |
|
<origin xyz="-0.132382037190567 0.00220380675553821 0.000111790164679923" rpy="0 0 0" /> |
|
<mass value="1.0733279014126" /> |
|
<inertia ixx="0.00050" ixy="0.00000" ixz="-0.00004" iyy="0.01596" iyz="0.00000" izz="0.01602" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link2.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link2.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="lr_joint2" type="revolute"> |
|
<origin xyz="0.02 0 0.0402" rpy="0 0 0" /> |
|
<parent link="lr_link1" /> |
|
<child link="lr_link2" /> |
|
<axis xyz="0 1 0" /> |
|
<dynamics damping="0.0" friction="100.0"/> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link name="lr_link3"> |
|
<inertial> |
|
<origin xyz="0.187203287369961 -0.000305676361444925 -0.0514832866415513" rpy="0 0 0" /> |
|
<mass value="0.499404738025019" /> |
|
<inertia ixx="0.00033" ixy="-0.00006" ixz="-0.00039" iyy="0.00387" iyz="0.00001" izz="0.00383" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link3.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link3.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="lr_joint3" type="revolute"> |
|
<origin xyz="-0.264 0 0" rpy="-3.1416 0 0" /> |
|
<parent link="lr_link2" /> |
|
<child link="lr_link3" /> |
|
<axis xyz="0 1 0" /> |
|
<dynamics damping="0.0" friction="100.0"/> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link name="lr_link4"> |
|
<inertial> |
|
<origin xyz="0.0388884702662706 0.00295168681334743 -0.0353282735009622" rpy="0 0 0" /> |
|
<mass value="0.0809712553169999" /> |
|
<inertia ixx="0.00013" ixy="-0.00001" ixz="-0.00006" iyy="0.00016" iyz="0.00001" izz="0.00010" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link4.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link4.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="lr_joint4" type="revolute"> |
|
<origin xyz="0.245 0 -0.056" rpy="0 0 0" /> |
|
<parent link="lr_link3" /> |
|
<child link="lr_link4" /> |
|
<axis xyz="0 1 0" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link name="lr_link5"> |
|
<inertial> |
|
<origin xyz="0.00289956909960302 3.15826689885766E-05 0.0526188859211408" rpy="0 0 0" /> |
|
<mass value="0.602357399313257" /> |
|
<inertia ixx="0.00072" ixy="0.00000" ixz="0.00005" iyy="0.00069" iyz="0.00000" izz="0.00021" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link5.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link5.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="lr_joint5" type="revolute"> |
|
<origin xyz="0.06575 -0.001 -0.0825" rpy="0 0 0" /> |
|
<parent link="lr_link4" /> |
|
<child link="lr_link5" /> |
|
<axis xyz="0 0 1" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link name="lr_link6"> |
|
<inertial> |
|
<origin xyz="0.0471798400661976 0.000102970421835668 -0.000138510949393961" rpy="0 0 0" /> |
|
<mass value="0.462244960775882" /> |
|
<inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link6.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link6.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="lr_joint6" type="revolute"> |
|
<origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" /> |
|
<parent link="lr_link5" /> |
|
<child link="lr_link6" /> |
|
<axis xyz="1 0 0" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link name="lr_link7"> |
|
<inertial> |
|
<origin xyz="-0.000327642774520215 -0.00482005374028087 -0.00167540868720402" rpy="0 0 0" /> |
|
<mass value="0.0484016660227936" /> |
|
<inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/back_link7.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/back_link7.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="lr_joint7" type="fixed"> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<parent link="lr_link6" /> |
|
<child link="lr_link7" /> |
|
<axis xyz="0 0 1" /> |
|
<limit lower="0" upper="0.4765" effort="100" velocity="1000" /> |
|
</joint> |
|
|
|
|
|
|
|
<link name="rr_base_link"> |
|
<inertial> |
|
<origin xyz="-2.9972E-05 3.056E-05 0.027301" rpy="0 0 0" /> |
|
<mass value="0.44038" /> |
|
<inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00018" iyz="0.00000" izz="0.00016" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/base_arm.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/base_arm.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="rr_base_joint" type="fixed"> |
|
<origin xyz="-0.309 -0.307 0.903" rpy="0.0 0.0 0.0" /> |
|
<parent link="footprint" /> |
|
<child link="rr_base_link" /> |
|
<axis xyz="0.0 0.0 1.0" /> |
|
</joint> |
|
<link name="rr_link1"> |
|
<inertial> |
|
<origin xyz="0.00609525411893452 -0.00429681977500749 0.0179590247477389" rpy="0 0 0" /> |
|
<mass value="0.0608351104988555" /> |
|
<inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00007" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link1.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link1.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="rr_joint1" type="revolute"> |
|
<origin xyz="0 0 0.0603" rpy="0 0 0" /> |
|
<parent link="rr_base_link" /> |
|
<child link="rr_link1" /> |
|
<axis xyz="0 0 1" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link name="rr_link2"> |
|
<inertial> |
|
<origin xyz="-0.132382037190567 0.00220380675553821 0.000111790164679923" rpy="0 0 0" /> |
|
<mass value="1.0733279014126" /> |
|
<inertia ixx="0.00050" ixy="0.00000" ixz="-0.00004" iyy="0.01596" iyz="0.00000" izz="0.01602" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link2.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link2.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="rr_joint2" type="revolute"> |
|
<origin xyz="0.02 0 0.0402" rpy="0 0 0" /> |
|
<parent link="rr_link1" /> |
|
<child link="rr_link2" /> |
|
<axis xyz="0 1 0" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link name="rr_link3"> |
|
<inertial> |
|
<origin xyz="0.187203287369961 -0.000305676361444925 -0.0514832866415513" rpy="0 0 0" /> |
|
<mass value="0.499404738025019" /> |
|
<inertia ixx="0.00033" ixy="-0.00006" ixz="-0.00039" iyy="0.00387" iyz="0.00001" izz="0.00383" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link3.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link3.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="rr_joint3" type="revolute"> |
|
<origin xyz="-0.264 0 0" rpy="-3.1416 0 0" /> |
|
<parent link="rr_link2" /> |
|
<child link="rr_link3" /> |
|
<axis xyz="0 1 0" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link name="rr_link4"> |
|
<inertial> |
|
<origin xyz="0.0388884702662706 0.00295168681334743 -0.0353282735009622" rpy="0 0 0" /> |
|
<mass value="0.0809712553169999" /> |
|
<inertia ixx="0.00013" ixy="-0.00001" ixz="-0.00006" iyy="0.00016" iyz="0.00001" izz="0.00010" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link4.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link4.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="rr_joint4" type="revolute"> |
|
<origin xyz="0.245 0 -0.056" rpy="0 0 0" /> |
|
<parent link="rr_link3" /> |
|
<child link="rr_link4" /> |
|
<axis xyz="0 1 0" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link name="rr_link5"> |
|
<inertial> |
|
<origin xyz="0.00289956909960302 3.15826689885766E-05 0.0526188859211408" rpy="0 0 0" /> |
|
<mass value="0.602357399313257" /> |
|
<inertia ixx="0.00072" ixy="0.00000" ixz="0.00005" iyy="0.00069" iyz="0.00000" izz="0.00021" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link5.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link5.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="rr_joint5" type="revolute"> |
|
<origin xyz="0.06575 -0.001 -0.0825" rpy="0 0 0" /> |
|
<parent link="rr_link4" /> |
|
<child link="rr_link5" /> |
|
<axis xyz="0 0 1" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link name="rr_link6"> |
|
<inertial> |
|
<origin xyz="0.0471798400661976 0.000102970421835668 -0.000138510949393961" rpy="0 0 0" /> |
|
<mass value="0.462244960775882" /> |
|
<inertia ixx="0.00068" ixy="0.00000" ixz="0.00000" iyy="0.00036" iyz="-0.00001" izz="0.00091" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link6.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/link6.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="rr_joint6" type="revolute"> |
|
<origin xyz="0.02845 0 0.0825" rpy="-3.1416 0 0" /> |
|
<parent link="rr_link5" /> |
|
<child link="rr_link6" /> |
|
<axis xyz="1 0 0" /> |
|
<limit lower="-10" upper="10" effort="100" velocity="1000" /> |
|
</joint> |
|
<link name="rr_link7"> |
|
<inertial> |
|
<origin xyz="-0.000327642774520215 -0.00482005374028087 -0.00167540868720402" rpy="0 0 0" /> |
|
<mass value="0.0484016660227936" /> |
|
<inertia ixx="0.00001" ixy="0.00000" ixz="0.00000" iyy="0.00002" iyz="0.00000" izz="0.00002" /> |
|
</inertial> |
|
<visual> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/back_link7.dae" /> |
|
</geometry> |
|
|
|
|
|
|
|
</visual> |
|
<collision> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<geometry> |
|
<mesh filename="package://aloha_maniskill_sim/meshes/back_link7.STL" /> |
|
</geometry> |
|
</collision> |
|
</link> |
|
<joint name="rr_joint7" type="fixed"> |
|
<origin xyz="0 0 0" rpy="0 0 0" /> |
|
<parent link="rr_link6" /> |
|
<child link="rr_link7" /> |
|
<axis xyz="0 0 1" /> |
|
<limit lower="0" upper="0.4765" effort="100" velocity="1000" /> |
|
</joint> |
|
|
|
|
|
|
|
</robot> |
|
|
|
|