robotic 0.2.9.dev1__cp311-cp311-manylinux2014_x86_64.whl → 0.2.9.dev2__cp311-cp311-manylinux2014_x86_64.whl

robotic/rai-robotModels/panda/panda.g

@@ -1,7 +1,7 @@
 ## create standard base frame before including
 
 panda_base: { multibody: true, multibody_gravity: false }
-Include: <panda_clean.g>
+Include: <panda_arm_hand_conv.g>
 Edit panda_link0(panda_base): {}
 
 ## simpler collision models

robotic/rai-robotModels/panda/panda_arm_hand_conv.g

@@ -0,0 +1,24 @@
+panda_link0: { shape: mesh, mesh: <meshes/link0.h5> },
+panda_joint1_origin(panda_link0): { Q: [0, 0, 0.333] },
+panda_joint1(panda_joint1_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/link1.h5>, mass: 0.54041, inertia: [0.00456315, -4.84504e-08, 2.96537e-08, 0.00410729, 0.000986596, 0.00188739] },
+panda_joint2_origin(panda_joint1): { Q: [0, 0, 0, 0.707107, -0.707107, 0, 0] },
+panda_joint2(panda_joint2_origin): { joint: hingeZ, limits: [-1.7628, 1.7628], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/link2.h5>, mass: 0.5439, inertia: [0.00464633, 9.63904e-08, 7.04706e-08, 0.00190105, -0.0010021, 0.00418737] },
+panda_joint3_origin(panda_joint2): { Q: [0, -0.316, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint3(panda_joint3_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link3.h5>, mass: 0.546829, inertia: [0.00249312, -0.00055264, -0.000819764, 0.0029029, -0.000540692, 0.00252334] },
+panda_joint4_origin(panda_joint3): { Q: [0.0825, 0, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint4(panda_joint4_origin): { joint: hingeZ, limits: [-3.0718, -0.0698], shape: mesh, mesh: <meshes/link4.h5>, mass: 0.552034, inertia: [0.0025711, 0.000847668, -0.000560078, 0.0025553, 0.000559278, 0.0029871] },
+panda_joint5_origin(panda_joint4): { Q: [-0.0825, 0.384, 0, 0.707107, -0.707107, 0, 0] },
+panda_joint5(panda_joint5_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link5.h5>, mass: 0.660947, inertia: [0.00852046, 2.33154e-06, -4.3629e-07, 0.00765386, -0.00177651, 0.00209357] },
+panda_joint6_origin(panda_joint5): { Q: [0, 0, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint6(panda_joint6_origin): { joint: hingeZ, limits: [-0.0175, 3.7525], shape: mesh, mesh: <meshes/link6.h5>, mass: 0.499248, inertia: [0.00118729, -3.51299e-05, 0.000161884, 0.00164794, 7.03151e-06, 0.00209417] },
+panda_joint7_origin(panda_joint6): { Q: [0.088, 0, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint7(panda_joint7_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link7.h5>, mass: 0.208463, inertia: [0.000276201, -7.21435e-05, -5.44283e-06, 0.000278665, -5.85467e-06, 0.000417454] },
+panda_joint8_origin(panda_joint7): { Q: [0, 0, 0.107] },
+panda_joint8(panda_joint8_origin): { joint: rigid },
+panda_hand_joint_origin(panda_joint8): { Q: [0, 0, 0, 0.92388, 0, 0, -0.382683] },
+panda_hand_joint(panda_hand_joint_origin): { joint: rigid, shape: mesh, mesh: <meshes/hand.h5>, mass: 0.300321, inertia: [0.0012697, -2.17666e-07, 2.11771e-07, 0.000285322, -4.67407e-05, 0.00112852] },
+panda_finger_joint1_origin(panda_hand_joint): { Q: [0, 0, 0.0584] },
+panda_finger_joint2_origin(panda_hand_joint): { Q: [0, 0, 0.0584] },
+panda_finger_joint1(panda_finger_joint1_origin): { joint: transY, limits: [0, 0.04], shape: mesh, mesh: <meshes/finger.h5>, mass: 0.0339598, inertia: [1.28954e-05, 3.94979e-10, 2.1346e-10, 1.25171e-05, 2.56044e-06, 3.22803e-06] },
+panda_finger_joint2(panda_finger_joint2_origin): { joint: transY, joint_scale: -1, limits: [0, 0.04], mimic: "panda_finger_joint1", mass: 0.0339598, com: [-7.21322e-07, 0.0122672, 0.0270327], inertia: [1.28954e-05, 3.94979e-10, -2.1346e-10, 1.25171e-05, -2.56044e-06, 3.22803e-06] },
+panda_rightfinger_0(panda_finger_joint2): { Q: [0, 0, 0, -1.03412e-13, 0, 0, 1], shape: mesh, mesh: <meshes/finger.h5> }

robotic/rai-robotModels/panda/panda_clean.g

@@ -1,45 +1,21 @@
-panda_link0: {  }
-panda_link0_0(panda_link0): { shape: mesh, mesh: <franka_description/meshes/visual/link0.ply>, mass: 1., visual: True }
-panda_joint1_origin(panda_link0): { rel: [0, 0, 0.333, 1, 0, 0, 0] }
-panda_joint1(panda_joint1_origin): { joint: hingeZ, limits: [-2.8973, 2.8973, 2.175, -1, 87], ctrl_limits: [2.175, -1, 87] }
-panda_link1(panda_joint1): {  }
-panda_link1_0(panda_link1): { shape: mesh, mesh: <franka_description/meshes/visual/link1.ply>, mass: 1., visual: True }
-panda_joint2_origin(panda_link1): { rel: [0, 0, 0, 0.707107, -0.707107, 0, 0] }
-panda_joint2(panda_joint2_origin): { joint: hingeZ, limits: [-1.7628, 1.7628, 2.175, -1, 87], ctrl_limits: [2.175, -1, 87] }
-panda_link2(panda_joint2): {  }
-panda_link2_0(panda_link2): { shape: mesh, mesh: <franka_description/meshes/visual/link2.ply>, mass: 1., visual: True }
-panda_joint3_origin(panda_link2): { rel: [0, -0.316, 0, 0.707107, 0.707107, 0, 0] }
-panda_joint3(panda_joint3_origin): { joint: hingeZ, limits: [-2.8973, 2.8973, 2.175, -1, 87], ctrl_limits: [2.175, -1, 87] }
-panda_link3(panda_joint3): {  }
-panda_link3_0(panda_link3): { shape: mesh, mesh: <franka_description/meshes/visual/link3.ply>, mass: 1., visual: True }
-panda_joint4_origin(panda_link3): { rel: [0.0825, 0, 0, 0.707107, 0.707107, 0, 0] }
-panda_joint4(panda_joint4_origin): { joint: hingeZ, limits: [-3.0718, -0.0698, 2.175, -1, 87], ctrl_limits: [2.175, -1, 87] }
-panda_link4(panda_joint4): {  }
-panda_link4_0(panda_link4): { shape: mesh, mesh: <franka_description/meshes/visual/link4.ply>, mass: 1., visual: True }
-panda_joint5_origin(panda_link4): { rel: [-0.0825, 0.384, 0, 0.707107, -0.707107, 0, 0] }
-panda_joint5(panda_joint5_origin): { joint: hingeZ, limits: [-2.8973, 2.8973, 2.61, -1, 12], ctrl_limits: [2.61, -1, 12] }
-panda_link5(panda_joint5): {  }
-panda_link5_0(panda_link5): { shape: mesh, mesh: <franka_description/meshes/visual/link5.ply>, mass: 1., visual: True }
-panda_joint6_origin(panda_link5): { rel: [0, 0, 0, 0.707107, 0.707107, 0, 0] }
-panda_joint6(panda_joint6_origin): { joint: hingeZ, limits: [-0.0175, 3.7525, 2.61, -1, 12], ctrl_limits: [2.61, -1, 12] }
-panda_link6(panda_joint6): {  }
-panda_link6_0(panda_link6): { shape: mesh, mesh: <franka_description/meshes/visual/link6.ply>, mass: 1., visual: True }
-panda_joint7_origin(panda_link6): { rel: [0.088, 0, 0, 0.707107, 0.707107, 0, 0] }
-panda_joint7(panda_joint7_origin): { joint: hingeZ, limits: [-2.8973, 2.8973, 2.61, -1, 12], ctrl_limits: [2.61, -1, 12] }
-panda_link7(panda_joint7): {  }
-panda_link7_0(panda_link7): { shape: mesh, mesh: <franka_description/meshes/visual/link7.ply>, mass: 1., visual: True }
-panda_joint8_origin(panda_link7): { rel: [0, 0, 0.107, 1, 0, 0, 0] }
-panda_joint8(panda_joint8_origin): { joint: rigid }
-panda_link8(panda_joint8): {  }
-panda_hand_joint_origin(panda_link8): { rel: [0, 0, 0, 0.92388, 0, 0, -0.382683] }
-panda_hand_joint(panda_hand_joint_origin): { joint: rigid }
-panda_hand(panda_hand_joint): {  }
-panda_hand_0(panda_hand): { shape: mesh, mesh: <franka_description/meshes/visual/hand.ply>, mass: .1, visual: True }
-panda_finger_joint1_origin(panda_hand): { Q: [0, 0, 0.0584, 1, 0, 0, 0] }
-panda_finger_joint2_origin(panda_hand): { Q: [0, 0, 0.0584, 1, 0, 0, 0] }
-panda_finger_joint1(panda_finger_joint1_origin): { joint: transY, limits: [0, 0.04, 0.2, -1, 20], ctrl_limits: [0.2, -1, 20] }
-panda_finger_joint2(panda_finger_joint2_origin): { joint: transY, joint_scale: -1, limits: [0, 0.04, 0.2, -1, 20], mimic: "panda_finger_joint1", ctrl_limits: [0.2, -1, 20] }
-panda_leftfinger(panda_finger_joint1): {  }
-panda_rightfinger(panda_finger_joint2): {  }
-panda_leftfinger_0(panda_leftfinger): { shape: mesh, mesh: <franka_description/meshes/visual/finger.ply>, mass: .05, visual: True }
-panda_rightfinger_0(panda_rightfinger): { Q: [0, 0, 0, -1.03412e-13, 0, 0, 1], shape: mesh, mesh: <franka_description/meshes/visual/finger.ply>, mass: .05, visual: True }
+panda_link0: { shape: mesh, mesh: <meshes/link0.h5> },
+panda_joint1_origin(panda_link0): { Q: [0, 0, 0.333] },
+panda_joint1(panda_joint1_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/link1.h5>, mass: 0.54041, inertia: [0.00456315, -4.84504e-08, 2.96537e-08, 0.00410729, 0.000986596, 0.00188739] },
+panda_joint2_origin(panda_joint1): { Q: [0, 0, 0, 0.707107, -0.707107, 0, 0] },
+panda_joint2(panda_joint2_origin): { joint: hingeZ, limits: [-1.7628, 1.7628], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/link2.h5>, mass: 0.5439, inertia: [0.00464633, 9.63904e-08, 7.04706e-08, 0.00190105, -0.0010021, 0.00418737] },
+panda_joint3_origin(panda_joint2): { Q: [0, -0.316, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint3(panda_joint3_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link3.h5>, mass: 0.546829, inertia: [0.00249312, -0.00055264, -0.000819764, 0.0029029, -0.000540692, 0.00252334] },
+panda_joint4_origin(panda_joint3): { Q: [0.0825, 0, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint4(panda_joint4_origin): { joint: hingeZ, limits: [-3.0718, -0.0698], shape: mesh, mesh: <meshes/link4.h5>, mass: 0.552034, inertia: [0.0025711, 0.000847668, -0.000560078, 0.0025553, 0.000559278, 0.0029871] },
+panda_joint5_origin(panda_joint4): { Q: [-0.0825, 0.384, 0, 0.707107, -0.707107, 0, 0] },
+panda_joint5(panda_joint5_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link5.h5>, mass: 0.660947, inertia: [0.00852046, 2.33154e-06, -4.3629e-07, 0.00765386, -0.00177651, 0.00209357] },
+panda_joint6_origin(panda_joint5): { Q: [0, 0, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint6(panda_joint6_origin): { joint: hingeZ, limits: [-0.0175, 3.7525], shape: mesh, mesh: <meshes/link6.h5>, mass: 0.499248, inertia: [0.00118729, -3.51299e-05, 0.000161884, 0.00164794, 7.03151e-06, 0.00209417] },
+panda_joint7_origin(panda_joint6): { Q: [0.088, 0, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint7(panda_joint7_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link7.h5>, mass: 0.508784, com: [0.00479185, 0.00293889, 0.110289], inertia: [0.00140377, -0.000585627, 3.48228e-05, 0.0013959, 5.49295e-05, 0.0015899] },
+panda_hand_0(panda_joint7): { Q: [0, 0, 0.107, 0.92388, 0, 0, -0.382683], shape: mesh, mesh: <meshes/hand.h5> },
+panda_finger_joint1_origin(panda_joint7): { Q: [0, 0, 0.1654, 0.92388, 0, 0, -0.382683] },
+panda_finger_joint2_origin(panda_joint7): { Q: [0, 0, 0.1654, 0.92388, 0, 0, -0.382683] },
+panda_finger_joint1(panda_finger_joint1_origin): { joint: transY, limits: [0, 0.04], shape: mesh, mesh: <meshes/finger.h5>, mass: 0.0339598, inertia: [1.28954e-05, 3.94979e-10, 2.1346e-10, 1.25171e-05, 2.56044e-06, 3.22803e-06] },
+panda_finger_joint2(panda_finger_joint2_origin): { joint: transY, joint_scale: -1, limits: [0, 0.04], mimic: "panda_finger_joint1", mass: 0.0339598, com: [-7.21322e-07, 0.0122672, 0.0270327], inertia: [1.28954e-05, 3.94979e-10, -2.1346e-10, 1.25171e-05, -2.56044e-06, 3.22803e-06] },
+panda_rightfinger_0(panda_finger_joint2): { Q: [0, 0, 0, -1.03412e-13, 0, 0, 1], shape: mesh, mesh: <meshes/finger.h5> }

robotic/rai-robotModels/panda/panda_gripper.g

@@ -1,10 +1,10 @@
 panda_hand: {  }
-panda_hand_0(panda_hand): { shape: mesh, mesh: <franka_description/meshes/visual/hand.ply>, visual: True }
+panda_hand_0(panda_hand): { shape: mesh, mesh: <meshes/hand.h5>, visual: True }
 panda_finger_joint1_origin(panda_hand): { Q: [0, 0, 0.0584, 1, 0, 0, 0] }
 panda_finger_joint2_origin(panda_hand): { Q: [0, 0, 0.0584, 1, 0, 0, 0] }
 panda_finger_joint1(panda_finger_joint1_origin): { joint: transY, limits: [0, 0.04, 0.2, -1, 20], ctrl_limits: [0.2, -1, 20] }
 panda_finger_joint2(panda_finger_joint2_origin): { joint: transY, joint_scale: -1, limits: [0, 0.04, 0.2, -1, 20], mimic: "panda_finger_joint1", ctrl_limits: [0.2, -1, 20] }
 panda_leftfinger(panda_finger_joint1): {  }
 panda_rightfinger(panda_finger_joint2): {  }
-panda_leftfinger_0(panda_leftfinger): { shape: mesh, mesh: <franka_description/meshes/visual/finger.ply>, visual: True }
-panda_rightfinger_0(panda_rightfinger): { Q: [0, 0, 0, -1.03412e-13, 0, 0, 1], shape: mesh, mesh: <franka_description/meshes/visual/finger.ply>, visual: True }
+panda_leftfinger_0(panda_leftfinger): { shape: mesh, mesh: <meshes/finger.h5>, visual: True }
+panda_rightfinger_0(panda_rightfinger): { Q: [0, 0, 0, -1.03412e-13, 0, 0, 1], shape: mesh, mesh: <meshes/finger.h5>, visual: True }

robotic/rai-robotModels/pr2/pr2.g

@@ -1,7 +1,7 @@
 world: {}
 worldTranslationRotation (world): { joint: transXYPhi, Q: "d(90 0 0 1)", gains: [1, 1], limits: [-10, -10, -6, 10, 10, 6], ctrl_limits: [1, 1, 1], ctrl_H: 10, base }
 
-Include: <pr2_clean.g>
+Include: <pr2_conv.g>
 
 Edit base_footprint (worldTranslationRotation): { Q: [0, 0, .05] }
 

robotic/rai-robotModels/pr2/pr2_clean.g

@@ -1,13 +1,17 @@
 base_footprint: { mass: 1, inertia: [0.01, 0.01, 0.01] }
+
 base_footprint_0(base_footprint): { shape: box, size: [0.01, 0.01, 0.01, 0], visual: True }
+
 base_link(base_footprint): { rel: [0, 0, 0.051, 1, 0, 0, 0], mass: 116, inertia: [5.65223, -0.00971993, 1.29399, 5.66947, -0.00737958, 3.6832] }
 base_link_0(base_footprint): { rel: [0, 0, 0.051, 1, 0, 0, 0], shape: mesh, mesh: <pr2_description/meshes/base_v0/base.ply>, meshscale: 0.1, visual: True }
 base_laser_link(base_footprint): { rel: [0.275, 0, 0.303, 1, 0, 0, 0], mass: 0.001, inertia: [0.0001, 1e-06, 0.0001] }
 base_laser_link_0(base_footprint): { rel: [0.275, 0, 0.303, 1, 0, 0, 0], shape: box, size: [0.001, 0.001, 0.001, 0], visual: True }
+
 fl_caster_rotation_joint_origin(base_footprint): { rel: [0.2246, 0.2246, 0.0792, 1, 0, 0, 0] }
 fr_caster_rotation_joint_origin(base_footprint): { rel: [0.2246, -0.2246, 0.0792, 1, 0, 0, 0] }
 bl_caster_rotation_joint_origin(base_footprint): { rel: [-0.2246, 0.2246, 0.0792, 1, 0, 0, 0] }
 br_caster_rotation_joint_origin(base_footprint): { rel: [-0.2246, -0.2246, 0.0792, 1, 0, 0, 0] }
+
 torso_lift_joint_origin(base_footprint): { rel: [-0.05, 0, 0.790675, 1, 0, 0, 0] }
 fl_caster_rotation_joint(fl_caster_rotation_joint_origin): { joint: hingeZ, limits: [0, 0, 0, 100, -1, 100], ctrl_limits: [100, -1, 100] }
 fr_caster_rotation_joint(fr_caster_rotation_joint_origin): { joint: hingeZ, limits: [0, 0, 0, 100, -1, 100], ctrl_limits: [100, -1, 100] }
@@ -209,4 +213,4 @@ l_gripper_l_finger_tip_link_0(l_gripper_l_finger_tip_joint): { shape: mesh, mesh
 l_gripper_r_finger_tip_link(l_gripper_r_finger_tip_joint): { mass: 0.04419, inertia: [8.37047e-06, -5.83632e-06, 0, 9.87067e-06, 0, 1.54177e-05] }
 l_gripper_r_finger_tip_link_0(l_gripper_r_finger_tip_joint): { rel: [0, 0, 0, -1.03412e-13, 1, 0, 0], shape: mesh, mesh: <pr2_description/meshes/gripper_v0/l_finger_tip.ply>, visual: True }
 r_gripper_joint(r_gripper_r_finger_tip_link): { joint: transY, limits: [0, 0.09, 0.2, -1, 1000], ctrl_limits: [0.2, -1, 1000] }
-l_gripper_joint(l_gripper_r_finger_tip_link): { joint: transY, limits: [0, 0.09, 0.2, -1, 1000], ctrl_limits: [0.2, -1, 1000] }
+l_gripper_joint(l_gripper_r_finger_tip_link): { joint: transY, limits: [0, 0.09, 0.2, -1, 1000], ctrl_limits: [0.2, -1, 1000] }

robotic/rai-robotModels/pr2/pr2_conv.g

@@ -0,0 +1,218 @@
+base_footprint: { shape: box, size: [0.01, 0.01, 0.01], mass: 1, inertia: [0.01, 0.01, 0.01] },
+base_footprint_joint_origin(base_footprint): { Q: [0, 0, 0.051] },
+base_footprint_joint(base_footprint_joint_origin): { joint: rigid, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/base.h5> },
+base_link(base_footprint_joint): { mass: 116, inertia: [5.65223, -0.00971993, 1.29399, 5.66947, -0.00737958, 3.6832] },
+base_laser_joint_origin(base_footprint_joint): { Q: [0.275, 0, 0.252] },
+fl_caster_rotation_joint_origin(base_footprint_joint): { Q: [0.2246, 0.2246, 0.0282] },
+fr_caster_rotation_joint_origin(base_footprint_joint): { Q: [0.2246, -0.2246, 0.0282] },
+bl_caster_rotation_joint_origin(base_footprint_joint): { Q: [-0.2246, 0.2246, 0.0282] },
+br_caster_rotation_joint_origin(base_footprint_joint): { Q: [-0.2246, -0.2246, 0.0282] },
+torso_lift_joint_origin(base_footprint_joint): { Q: [-0.05, 0, 0.739675] },
+base_laser_joint(base_laser_joint_origin): { joint: rigid, shape: box, size: [0.001, 0.001, 0.001] },
+fl_caster_rotation_joint(fl_caster_rotation_joint_origin): { joint: hingeZ, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/caster.h5> },
+fr_caster_rotation_joint(fr_caster_rotation_joint_origin): { joint: hingeZ, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/caster.h5> },
+bl_caster_rotation_joint(bl_caster_rotation_joint_origin): { joint: hingeZ, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/caster.h5> },
+br_caster_rotation_joint(br_caster_rotation_joint_origin): { joint: hingeZ, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/caster.h5> },
+torso_lift_joint(torso_lift_joint_origin): { joint: transZ, limits: [0, 0.31], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/torso_lift.h5> },
+base_laser_link(base_laser_joint): { mass: 0.001, inertia: [0.0001, 1e-06, 0.0001] },
+fl_caster_rotation_link(fl_caster_rotation_joint): { mass: 3.47308, inertia: [0.0124118, -0.000711734, 0.00050273, 0.0152182, -4.27347e-06, 0.011764] },
+fl_caster_l_wheel_joint_origin(fl_caster_rotation_joint): { Q: [0, 0.049, 0] },
+fl_caster_r_wheel_joint_origin(fl_caster_rotation_joint): { Q: [0, -0.049, 0] },
+fr_caster_rotation_link(fr_caster_rotation_joint): { mass: 3.47308, inertia: [0.0124118, -0.000711734, 0.00050273, 0.0152182, -4.27347e-06, 0.011764] },
+fr_caster_l_wheel_joint_origin(fr_caster_rotation_joint): { Q: [0, 0.049, 0] },
+fr_caster_r_wheel_joint_origin(fr_caster_rotation_joint): { Q: [0, -0.049, 0] },
+bl_caster_rotation_link(bl_caster_rotation_joint): { mass: 3.47308, inertia: [0.0124118, -0.000711734, 0.00050273, 0.0152182, -4.27347e-06, 0.011764] },
+bl_caster_l_wheel_joint_origin(bl_caster_rotation_joint): { Q: [0, 0.049, 0] },
+bl_caster_r_wheel_joint_origin(bl_caster_rotation_joint): { Q: [0, -0.049, 0] },
+br_caster_rotation_link(br_caster_rotation_joint): { mass: 3.47308, inertia: [0.0124118, -0.000711734, 0.00050273, 0.0152182, -4.27347e-06, 0.011764] },
+br_caster_l_wheel_joint_origin(br_caster_rotation_joint): { Q: [0, 0.049, 0] },
+br_caster_r_wheel_joint_origin(br_caster_rotation_joint): { Q: [0, -0.049, 0] },
+torso_lift_link(torso_lift_joint): { mass: 36.248, inertia: [2.77165, 0.00428452, -0.160419, 2.51002, 0.0296645, 0.526432] },
+imu_joint_origin(torso_lift_joint): { Q: [-0.02977, -0.1497, 0.164, -1.03412e-13, 0, 1, 0] },
+head_pan_joint_origin(torso_lift_joint): { Q: [-0.01707, 0, 0.38145] },
+laser_tilt_mount_joint_origin(torso_lift_joint): { Q: [0.09893, 0, 0.227] },
+r_shoulder_pan_joint_origin(torso_lift_joint): { Q: [0, -0.188, 0] },
+l_shoulder_pan_joint_origin(torso_lift_joint): { Q: [0, 0.188, 0] },
+fl_caster_l_wheel_joint(fl_caster_l_wheel_joint_origin): { joint: hingeY, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/wheel.h5> },
+fl_caster_r_wheel_joint(fl_caster_r_wheel_joint_origin): { joint: hingeY, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/wheel.h5> },
+fr_caster_l_wheel_joint(fr_caster_l_wheel_joint_origin): { joint: hingeY, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/wheel.h5> },
+fr_caster_r_wheel_joint(fr_caster_r_wheel_joint_origin): { joint: hingeY, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/wheel.h5> },
+bl_caster_l_wheel_joint(bl_caster_l_wheel_joint_origin): { joint: hingeY, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/wheel.h5> },
+bl_caster_r_wheel_joint(bl_caster_r_wheel_joint_origin): { joint: hingeY, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/wheel.h5> },
+br_caster_l_wheel_joint(br_caster_l_wheel_joint_origin): { joint: hingeY, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/wheel.h5> },
+br_caster_r_wheel_joint(br_caster_r_wheel_joint_origin): { joint: hingeY, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/wheel.h5> },
+imu_joint(imu_joint_origin): { joint: rigid, shape: box, size: [0.001, 0.001, 0.001] },
+head_pan_joint(head_pan_joint_origin): { joint: hingeZ, limits: [-3.007, 3.007], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/head_pan.h5> },
+laser_tilt_mount_joint(laser_tilt_mount_joint_origin): { joint: hingeY, limits: [-0.7854, 1.48353], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/tilting_hokuyo.h5> },
+r_shoulder_pan_joint(r_shoulder_pan_joint_origin): { joint: hingeZ, limits: [-2.2854, 0.714602], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/shoulder_pan.h5> },
+l_shoulder_pan_joint(l_shoulder_pan_joint_origin): { joint: hingeZ, limits: [-0.714602, 2.2854], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/shoulder_pan.h5> },
+fl_caster_l_wheel_link(fl_caster_l_wheel_joint): { mass: 0.44036, inertia: [0.0124118, -0.000711734, 0.00050273, 0.0152182, -4.27347e-06, 0.011764] },
+fl_caster_r_wheel_link(fl_caster_r_wheel_joint): { mass: 0.44036, inertia: [0.0124118, -0.000711734, 0.00050273, 0.0152182, -4.27347e-06, 0.011764] },
+fr_caster_l_wheel_link(fr_caster_l_wheel_joint): { mass: 0.44036, inertia: [0.0124118, -0.000711734, 0.00050273, 0.0152182, -4.27347e-06, 0.011764] },
+fr_caster_r_wheel_link(fr_caster_r_wheel_joint): { mass: 0.44036, inertia: [0.0124118, -0.000711734, 0.00050273, 0.0152182, -4.27347e-06, 0.011764] },
+bl_caster_l_wheel_link(bl_caster_l_wheel_joint): { mass: 0.44036, inertia: [0.0124118, -0.000711734, 0.00050273, 0.0152182, -4.27347e-06, 0.011764] },
+bl_caster_r_wheel_link(bl_caster_r_wheel_joint): { mass: 0.44036, inertia: [0.0124118, -0.000711734, 0.00050273, 0.0152182, -4.27347e-06, 0.011764] },
+br_caster_l_wheel_link(br_caster_l_wheel_joint): { mass: 0.44036, inertia: [0.0124118, -0.000711734, 0.00050273, 0.0152182, -4.27347e-06, 0.011764] },
+br_caster_r_wheel_link(br_caster_r_wheel_joint): { mass: 0.44036, inertia: [0.0124118, -0.000711734, 0.00050273, 0.0152182, -4.27347e-06, 0.011764] },
+imu_link(imu_joint): { mass: 0.001, inertia: [0.0001, 1e-06, 0.0001] },
+head_pan_link(head_pan_joint): { mass: 1.61112, inertia: [0.00482611, -0.000144684, 0.000110076, 0.00521899, -0.00031424, 0.00861878] },
+head_tilt_joint_origin(head_pan_joint): { Q: [0.068, 0, 0] },
+laser_tilt_mount_link(laser_tilt_mount_joint): { mass: 0.05, inertia: [0.0001, 1e-05, 0.0001] },
+laser_tilt_joint_origin(laser_tilt_mount_joint): { Q: [0, 0, 0.03] },
+r_shoulder_pan_link(r_shoulder_pan_joint): { mass: 25.7993, inertia: [0.866179, -0.0608651, -0.121181, 0.874217, -0.0588661, 0.273538] },
+r_shoulder_lift_joint_origin(r_shoulder_pan_joint): { Q: [0.1, 0, 0] },
+l_shoulder_pan_link(l_shoulder_pan_joint): { mass: 25.7993, inertia: [0.866179, -0.0608651, -0.121181, 0.874217, -0.0588661, 0.273538] },
+l_shoulder_lift_joint_origin(l_shoulder_pan_joint): { Q: [0.1, 0, 0] },
+head_tilt_joint(head_tilt_joint_origin): { joint: hingeY, limits: [-0.471238, 1.39626], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/head_tilt.h5> },
+laser_tilt_joint(laser_tilt_joint_origin): { joint: rigid, shape: box, size: [0.001, 0.001, 0.001] },
+r_shoulder_lift_joint(r_shoulder_lift_joint_origin): { joint: hingeY, limits: [-0.5236, 1.3963], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/shoulder_lift.h5> },
+l_shoulder_lift_joint(l_shoulder_lift_joint_origin): { joint: hingeY, limits: [-0.5236, 1.3963], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/shoulder_lift.h5> },
+head_tilt_link(head_tilt_joint): { mass: 1.74973, inertia: [0.0106023, -0.000408814, 0.00198304, 0.0118744, 0.000197909, 0.00551679] },
+head_plate_frame_joint_origin(head_tilt_joint): { Q: [0.0232, 0, 0.0645] },
+laser_tilt_link(laser_tilt_joint): { mass: 0.001, inertia: [0.0001, 1e-06, 0.0001] },
+r_shoulder_lift_link(r_shoulder_lift_joint): { mass: 2.74988, inertia: [0.0210558, 0.00496704, -0.00194809, 0.0212722, 0.00110425, 0.0197575] },
+r_upper_arm_roll_joint(r_shoulder_lift_joint): { joint: hingeX, limits: [-3.9, 0.8], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/upper_arm_roll.h5> },
+l_shoulder_lift_link(l_shoulder_lift_joint): { mass: 2.74988, inertia: [0.0210558, 0.00496704, -0.00194809, 0.0212722, 0.00110425, 0.0197575] },
+l_upper_arm_roll_joint(l_shoulder_lift_joint): { joint: hingeX, limits: [-0.8, 3.9], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/upper_arm_roll.h5> },
+head_plate_frame_joint(head_plate_frame_joint_origin): { joint: rigid, shape: box, size: [0.01, 0.01, 0.01] },
+r_upper_arm_roll_link(r_upper_arm_roll_joint): { mass: 0.1, inertia: [0.01, 0.01, 0.01] },
+r_upper_arm_joint(r_upper_arm_roll_joint): { joint: rigid, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/upper_arm.h5> },
+l_upper_arm_roll_link(l_upper_arm_roll_joint): { mass: 0.1, inertia: [0.01, 0.01, 0.01] },
+l_upper_arm_joint(l_upper_arm_roll_joint): { joint: rigid, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/upper_arm.h5> },
+head_plate_frame(head_plate_frame_joint): { mass: 0.01, inertia: [0.001, 0.001, 0.001] },
+sensor_mount_frame_joint(head_plate_frame_joint): { joint: rigid, shape: box, size: [0.01, 0.01, 0.01] },
+r_upper_arm_link(r_upper_arm_joint): { mass: 6.01769, inertia: [0.0153775, 0.00375711, -0.000708529, 0.0747367, -0.000179365, 0.0760876] },
+r_elbow_flex_joint_origin(r_upper_arm_joint): { Q: [0.4, 0, 0] },
+l_upper_arm_link(l_upper_arm_joint): { mass: 6.01769, inertia: [0.015306, -0.00339325, 0.000607655, 0.0747369, -0.000199537, 0.0760159] },
+l_elbow_flex_joint_origin(l_upper_arm_joint): { Q: [0.4, 0, 0] },
+sensor_mount_link(sensor_mount_frame_joint): { mass: 0.05, inertia: [0.001, 0.001, 0.01] },
+high_def_frame_joint_origin(sensor_mount_frame_joint): { Q: [0, -0.109, 0.035] },
+double_stereo_frame_joint_origin(sensor_mount_frame_joint): { Q: [0, 0, 0.003] },
+r_elbow_flex_joint(r_elbow_flex_joint_origin): { joint: hingeY, limits: [-2.3213, 0], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/elbow_flex.h5> },
+l_elbow_flex_joint(l_elbow_flex_joint_origin): { joint: hingeY, limits: [-2.3213, 0], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/elbow_flex.h5> },
+high_def_frame_joint(high_def_frame_joint_origin): { joint: rigid },
+double_stereo_frame_joint(double_stereo_frame_joint_origin): { joint: rigid },
+r_elbow_flex_link(r_elbow_flex_joint): { mass: 1.90327, inertia: [0.00346542, 4.06683e-05, 0.000431716, 0.00441606, -3.96891e-05, 0.00359157] },
+r_forearm_roll_joint(r_elbow_flex_joint): { joint: hingeX, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/forearm_roll.h5> },
+l_elbow_flex_link(l_elbow_flex_joint): { mass: 1.90327, inertia: [0.00346542, 4.06683e-05, 0.000431716, 0.00441606, -3.96891e-05, 0.00359157] },
+l_forearm_roll_joint(l_elbow_flex_joint): { joint: hingeX, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/forearm_roll.h5> },
+high_def_frame(high_def_frame_joint): { mass: 0.01, inertia: [0.001, 0.001, 0.001] },
+high_def_frame_0(high_def_frame_joint): { Q: [-0.02, 0, 0], shape: box, size: [0.04, 0.04, 0.04] },
+high_def_optical_frame_joint_origin(high_def_frame_joint): { Q: [0, 0, 0, 0.5, -0.5, -0.5, -0.5] },
+double_stereo_link(double_stereo_frame_joint): { mass: 0.1, inertia: [0.001, 0.001, 0.01] },
+double_stereo_link_0(double_stereo_frame_joint): { Q: [-0.01, 0, 0.025], shape: box, size: [0.02, 0.12, 0.05] },
+wide_stereo_frame_joint_origin(double_stereo_frame_joint): { Q: [0, 0.03, 0.0305] },
+narrow_stereo_frame_joint_origin(double_stereo_frame_joint): { Q: [0, 0.06, 0.0305] },
+r_forearm_roll_link(r_forearm_roll_joint): { mass: 0.1, inertia: [0.01, 0.01, 0.01] },
+r_forearm_cam_frame_joint_origin(r_forearm_roll_joint): { Q: [0.135, 0, 0.044, 0.679288, 0.679288, -0.196387, -0.196387] },
+r_forearm_joint(r_forearm_roll_joint): { joint: rigid, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/forearm.h5> },
+l_forearm_roll_link(l_forearm_roll_joint): { mass: 0.1, inertia: [0.01, 0.01, 0.01] },
+l_forearm_cam_frame_joint_origin(l_forearm_roll_joint): { Q: [0.135, 0, 0.044, 0.679288, -0.679288, -0.196387, 0.196387] },
+l_forearm_joint(l_forearm_roll_joint): { joint: rigid, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/forearm.h5> },
+high_def_optical_frame_joint(high_def_optical_frame_joint_origin): { joint: rigid },
+wide_stereo_frame_joint(wide_stereo_frame_joint_origin): { joint: rigid, shape: box, size: [0.001, 0.001, 0.001] },
+narrow_stereo_frame_joint(narrow_stereo_frame_joint_origin): { joint: rigid, shape: box, size: [0.001, 0.001, 0.001] },
+r_forearm_cam_frame_joint(r_forearm_cam_frame_joint_origin): { joint: rigid, shape: box, size: [0.01, 0.01, 0.01] },
+r_forearm_link(r_forearm_joint): { mass: 2.57968, inertia: [0.00364857, 5.21588e-05, 0.000715348, 0.0150774, -1.31077e-05, 0.0165931] },
+r_wrist_flex_joint_origin(r_forearm_joint): { Q: [0.321, 0, 0] },
+l_forearm_cam_frame_joint(l_forearm_cam_frame_joint_origin): { joint: rigid, shape: box, size: [0.01, 0.01, 0.01] },
+l_forearm_link(l_forearm_joint): { mass: 2.57968, inertia: [0.00364857, 5.21588e-05, 0.000715348, 0.0150774, -1.31077e-05, 0.0165931] },
+l_wrist_flex_joint_origin(l_forearm_joint): { Q: [0.321, 0, 0] },
+high_def_optical_frame(high_def_optical_frame_joint): { mass: 0.01, inertia: [0.001, 0.001, 0.001] },
+high_def_optical_frame_0(high_def_optical_frame_joint): { Q: [0, 0, 0, 0.707107, 0, 0, 0.707107], shape: cylinder, size: [0.05, 0.02] },
+wide_stereo_link(wide_stereo_frame_joint): { mass: 0.1, inertia: [0.01, 0.01, 0.01] },
+wide_stereo_optical_frame_joint_origin(wide_stereo_frame_joint): { Q: [0, 0, 0, 0.5, -0.5, -0.5, -0.5] },
+wide_stereo_gazebo_l_stereo_camera_frame_joint(wide_stereo_frame_joint): { joint: rigid, shape: box, size: [0.01, 0.01, 0.01] },
+narrow_stereo_link(narrow_stereo_frame_joint): { mass: 0.1, inertia: [0.01, 0.01, 0.01] },
+narrow_stereo_optical_frame_joint_origin(narrow_stereo_frame_joint): { Q: [0, 0, 0, 0.5, -0.5, -0.5, -0.5] },
+narrow_stereo_gazebo_l_stereo_camera_frame_joint(narrow_stereo_frame_joint): { joint: rigid, shape: box, size: [0.01, 0.01, 0.01] },
+r_forearm_cam_frame(r_forearm_cam_frame_joint): { mass: 0.01, inertia: [0.001, 0.001, 0.001] },
+r_forearm_cam_optical_frame_joint_origin(r_forearm_cam_frame_joint): { Q: [0, 0, 0, 0.5, -0.5, -0.5, -0.5] },
+r_wrist_flex_joint(r_wrist_flex_joint_origin): { joint: hingeY, limits: [-2.094, 0], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/wrist_flex.h5> },
+l_forearm_cam_frame(l_forearm_cam_frame_joint): { mass: 0.01, inertia: [0.001, 0.001, 0.001] },
+l_forearm_cam_optical_frame_joint_origin(l_forearm_cam_frame_joint): { Q: [0, 0, 0, 0.5, -0.5, -0.5, -0.5] },
+l_wrist_flex_joint(l_wrist_flex_joint_origin): { joint: hingeY, limits: [-2.094, 0], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/wrist_flex.h5> },
+wide_stereo_optical_frame_joint(wide_stereo_optical_frame_joint_origin): { joint: rigid },
+wide_stereo_gazebo_l_stereo_camera_frame(wide_stereo_gazebo_l_stereo_camera_frame_joint): { mass: 0.01, inertia: [0.001, 0.001, 0.001] },
+wide_stereo_gazebo_l_stereo_camera_optical_frame_joint_origin(wide_stereo_gazebo_l_stereo_camera_frame_joint): { Q: [0, 0, 0, 0.5, -0.5, -0.5, -0.5] },
+wide_stereo_gazebo_r_stereo_camera_frame_joint_origin(wide_stereo_gazebo_l_stereo_camera_frame_joint): { Q: [0, -0.09, 0] },
+narrow_stereo_optical_frame_joint(narrow_stereo_optical_frame_joint_origin): { joint: rigid },
+narrow_stereo_gazebo_l_stereo_camera_frame(narrow_stereo_gazebo_l_stereo_camera_frame_joint): { mass: 0.01, inertia: [0.001, 0.001, 0.001] },
+narrow_stereo_gazebo_l_stereo_camera_optical_frame_joint_origin(narrow_stereo_gazebo_l_stereo_camera_frame_joint): { Q: [0, 0, 0, 0.5, -0.5, -0.5, -0.5] },
+narrow_stereo_gazebo_r_stereo_camera_frame_joint_origin(narrow_stereo_gazebo_l_stereo_camera_frame_joint): { Q: [0, -0.09, 0] },
+r_forearm_cam_optical_frame_joint(r_forearm_cam_optical_frame_joint_origin): { joint: rigid },
+r_wrist_flex_link(r_wrist_flex_joint): { mass: 0.61402, inertia: [0.000651657, 2.8864e-07, 3.03477e-06, 0.000198244, -2.2645e-07, 0.000644505] },
+r_wrist_roll_joint(r_wrist_flex_joint): { joint: hingeX, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/wrist_roll.h5> },
+l_forearm_cam_optical_frame_joint(l_forearm_cam_optical_frame_joint_origin): { joint: rigid },
+l_wrist_flex_link(l_wrist_flex_joint): { mass: 0.61402, inertia: [0.000651657, 2.8864e-07, 3.03477e-06, 0.000198244, -2.2645e-07, 0.000644505] },
+l_wrist_roll_joint(l_wrist_flex_joint): { joint: hingeX, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/wrist_roll.h5> },
+wide_stereo_gazebo_l_stereo_camera_optical_frame_joint(wide_stereo_gazebo_l_stereo_camera_optical_frame_joint_origin): { joint: rigid },
+wide_stereo_gazebo_r_stereo_camera_frame_joint(wide_stereo_gazebo_r_stereo_camera_frame_joint_origin): { joint: rigid, shape: box, size: [0.01, 0.01, 0.01] },
+narrow_stereo_gazebo_l_stereo_camera_optical_frame_joint(narrow_stereo_gazebo_l_stereo_camera_optical_frame_joint_origin): { joint: rigid },
+narrow_stereo_gazebo_r_stereo_camera_frame_joint(narrow_stereo_gazebo_r_stereo_camera_frame_joint_origin): { joint: rigid, shape: box, size: [0.01, 0.01, 0.01] },
+r_wrist_roll_link(r_wrist_roll_joint): { mass: 0.1, inertia: [0.01, 0.01, 0.01] },
+r_gripper_palm_joint(r_wrist_roll_joint): { joint: rigid, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/gripper_palm.h5> },
+l_wrist_roll_link(l_wrist_roll_joint): { mass: 0.1, inertia: [0.01, 0.01, 0.01] },
+l_gripper_palm_joint(l_wrist_roll_joint): { joint: rigid, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/gripper_palm.h5> },
+wide_stereo_gazebo_r_stereo_camera_frame(wide_stereo_gazebo_r_stereo_camera_frame_joint): { mass: 0.01, inertia: [0.001, 0.001, 0.001] },
+wide_stereo_gazebo_r_stereo_camera_optical_frame_joint_origin(wide_stereo_gazebo_r_stereo_camera_frame_joint): { Q: [0, 0, 0, 0.5, -0.5, -0.5, -0.5] },
+narrow_stereo_gazebo_r_stereo_camera_frame(narrow_stereo_gazebo_r_stereo_camera_frame_joint): { mass: 0.01, inertia: [0.001, 0.001, 0.001] },
+narrow_stereo_gazebo_r_stereo_camera_optical_frame_joint_origin(narrow_stereo_gazebo_r_stereo_camera_frame_joint): { Q: [0, 0, 0, 0.5, -0.5, -0.5, -0.5] },
+r_gripper_palm_link(r_gripper_palm_joint): { mass: 0.58007, inertia: [0.000352239, -1.58048e-05, -9.175e-07, 0.000677413, -5.9554e-07, 0.000865633] },
+r_gripper_led_joint_origin(r_gripper_palm_joint): { Q: [0.0513, 0, 0.0244] },
+r_gripper_tool_joint_origin(r_gripper_palm_joint): { Q: [0.18, 0, 0] },
+r_gripper_l_finger_joint_origin(r_gripper_palm_joint): { Q: [0.07691, 0.01, 0] },
+r_gripper_r_finger_joint_origin(r_gripper_palm_joint): { Q: [0.07691, -0.01, 0] },
+r_gripper_l_parallel_root_joint_origin(r_gripper_palm_joint): { Q: [0.05891, 0.031, 0] },
+r_gripper_r_parallel_root_joint_origin(r_gripper_palm_joint): { Q: [0.05891, -0.031, 0] },
+r_gripper_motor_accelerometer_joint(r_gripper_palm_joint): { joint: rigid, shape: box, size: [0.001, 0.001, 0.001] },
+l_gripper_palm_link(l_gripper_palm_joint): { mass: 0.58007, inertia: [0.000352239, -1.58048e-05, -9.175e-07, 0.000677413, -5.9554e-07, 0.000865633] },
+l_gripper_led_joint_origin(l_gripper_palm_joint): { Q: [0.0513, 0, 0.0244] },
+l_gripper_tool_joint_origin(l_gripper_palm_joint): { Q: [0.18, 0, 0] },
+l_gripper_l_finger_joint_origin(l_gripper_palm_joint): { Q: [0.07691, 0.01, 0] },
+l_gripper_r_finger_joint_origin(l_gripper_palm_joint): { Q: [0.07691, -0.01, 0] },
+l_gripper_l_parallel_root_joint_origin(l_gripper_palm_joint): { Q: [0.05891, 0.031, 0] },
+l_gripper_r_parallel_root_joint_origin(l_gripper_palm_joint): { Q: [0.05891, -0.031, 0] },
+l_gripper_motor_accelerometer_joint(l_gripper_palm_joint): { joint: rigid, shape: box, size: [0.001, 0.001, 0.001] },
+wide_stereo_gazebo_r_stereo_camera_optical_frame_joint(wide_stereo_gazebo_r_stereo_camera_optical_frame_joint_origin): { joint: rigid },
+narrow_stereo_gazebo_r_stereo_camera_optical_frame_joint(narrow_stereo_gazebo_r_stereo_camera_optical_frame_joint_origin): { joint: rigid },
+r_gripper_led_joint(r_gripper_led_joint_origin): { joint: rigid },
+r_gripper_tool_joint(r_gripper_tool_joint_origin): { joint: rigid },
+r_gripper_l_finger_joint(r_gripper_l_finger_joint_origin): { joint: hingeZ, limits: [0, 0.548], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/l_finger.h5> },
+r_gripper_r_finger_joint(r_gripper_r_finger_joint_origin): { joint: hingeZ, joint_scale: -1, limits: [0, 0.548], mimic: r_gripper_l_finger_joint },
+r_gripper_l_parallel_root_joint(r_gripper_l_parallel_root_joint_origin): { joint: hingeZ, limits: [0, 0.548], mimic: r_gripper_l_finger_joint },
+r_gripper_r_parallel_root_joint(r_gripper_r_parallel_root_joint_origin): { joint: hingeZ, joint_scale: -1, limits: [0, 0.548], mimic: r_gripper_l_finger_joint },
+r_gripper_motor_accelerometer_link(r_gripper_motor_accelerometer_joint): { mass: 0.001, inertia: [0.001, 0.001, 0.001] },
+l_gripper_led_joint(l_gripper_led_joint_origin): { joint: rigid },
+l_gripper_tool_joint(l_gripper_tool_joint_origin): { joint: rigid },
+l_gripper_l_finger_joint(l_gripper_l_finger_joint_origin): { joint: hingeZ, limits: [0, 0.548], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/l_finger.h5> },
+l_gripper_r_finger_joint(l_gripper_r_finger_joint_origin): { joint: hingeZ, joint_scale: -1, limits: [0, 0.548], mimic: l_gripper_l_finger_joint },
+l_gripper_l_parallel_root_joint(l_gripper_l_parallel_root_joint_origin): { joint: hingeZ, limits: [0, 0.548], mimic: l_gripper_l_finger_joint },
+l_gripper_r_parallel_root_joint(l_gripper_r_parallel_root_joint_origin): { joint: hingeZ, joint_scale: -1, limits: [0, 0.548], mimic: l_gripper_l_finger_joint },
+l_gripper_motor_accelerometer_link(l_gripper_motor_accelerometer_joint): { mass: 0.001, inertia: [0.001, 0.001, 0.001] },
+r_gripper_l_finger_link(r_gripper_l_finger_joint): { mass: 0.17126, inertia: [7.7562e-05, 1.49095e-06, -9.83385e-06, 0.000197083, -3.06125e-06, 0.000181054] },
+r_gripper_l_finger_tip_joint_origin(r_gripper_l_finger_joint): { Q: [0.09137, 0.00495, 0] },
+r_gripper_r_finger_link(r_gripper_r_finger_joint): { mass: 0.17389, inertia: [7.73841e-05, -2.09309e-06, -8.36228e-06, 0.000198474, 2.4611e-06, 0.00018107] },
+r_gripper_r_finger_link_0(r_gripper_r_finger_joint): { Q: [0, 0, 0, -1.03412e-13, 1, 0, 0], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/l_finger.h5> },
+r_gripper_r_finger_tip_joint_origin(r_gripper_r_finger_joint): { Q: [0.09137, -0.00495, 0] },
+r_gripper_l_parallel_link(r_gripper_l_parallel_root_joint): { mass: 0.17126, inertia: [7.7562e-05, 1.49095e-06, -9.83385e-06, 0.000197083, -3.06125e-06, 0.000181054] },
+r_gripper_r_parallel_link(r_gripper_r_parallel_root_joint): { mass: 0.17389, inertia: [7.73841e-05, -2.09309e-06, -8.36228e-06, 0.000198474, 2.4611e-06, 0.00018107] },
+l_gripper_l_finger_link(l_gripper_l_finger_joint): { mass: 0.17126, inertia: [7.7562e-05, 1.49095e-06, -9.83385e-06, 0.000197083, -3.06125e-06, 0.000181054] },
+l_gripper_l_finger_tip_joint_origin(l_gripper_l_finger_joint): { Q: [0.09137, 0.00495, 0] },
+l_gripper_r_finger_link(l_gripper_r_finger_joint): { mass: 0.17389, inertia: [7.73841e-05, -2.09309e-06, -8.36228e-06, 0.000198474, 2.4611e-06, 0.00018107] },
+l_gripper_r_finger_link_0(l_gripper_r_finger_joint): { Q: [0, 0, 0, -1.03412e-13, 1, 0, 0], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/l_finger.h5> },
+l_gripper_r_finger_tip_joint_origin(l_gripper_r_finger_joint): { Q: [0.09137, -0.00495, 0] },
+l_gripper_l_parallel_link(l_gripper_l_parallel_root_joint): { mass: 0.17126, inertia: [7.7562e-05, 1.49095e-06, -9.83385e-06, 0.000197083, -3.06125e-06, 0.000181054] },
+l_gripper_r_parallel_link(l_gripper_r_parallel_root_joint): { mass: 0.17389, inertia: [7.73841e-05, -2.09309e-06, -8.36228e-06, 0.000198474, 2.4611e-06, 0.00018107] },
+r_gripper_l_finger_tip_joint(r_gripper_l_finger_tip_joint_origin): { joint: hingeZ, joint_scale: -1, limits: [0, 0.548], mimic: r_gripper_l_finger_joint, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/l_finger_tip.h5> },
+r_gripper_r_finger_tip_joint(r_gripper_r_finger_tip_joint_origin): { joint: hingeZ, limits: [0, 0.548], mimic: r_gripper_l_finger_joint },
+l_gripper_l_finger_tip_joint(l_gripper_l_finger_tip_joint_origin): { joint: hingeZ, joint_scale: -1, limits: [0, 0.548], mimic: l_gripper_l_finger_joint, shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/l_finger_tip.h5> },
+l_gripper_r_finger_tip_joint(l_gripper_r_finger_tip_joint_origin): { joint: hingeZ, limits: [0, 0.548], mimic: l_gripper_l_finger_joint },
+r_gripper_l_finger_tip_link(r_gripper_l_finger_tip_joint): { mass: 0.04419, inertia: [8.37047e-06, 5.83632e-06, 0, 9.87067e-06, 0, 1.54177e-05] },
+r_gripper_r_finger_tip_link(r_gripper_r_finger_tip_joint): { mass: 0.04419, inertia: [8.37047e-06, -5.83632e-06, 0, 9.87067e-06, 0, 1.54177e-05] },
+r_gripper_r_finger_tip_link_0(r_gripper_r_finger_tip_joint): { Q: [0, 0, 0, -1.03412e-13, 1, 0, 0], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/l_finger_tip.h5> },
+r_gripper_joint(r_gripper_r_finger_tip_joint): { joint: transY, limits: [0, 0.09] },
+l_gripper_l_finger_tip_link(l_gripper_l_finger_tip_joint): { mass: 0.04419, inertia: [8.37047e-06, 5.83632e-06, 0, 9.87067e-06, 0, 1.54177e-05] },
+l_gripper_r_finger_tip_link(l_gripper_r_finger_tip_joint): { mass: 0.04419, inertia: [8.37047e-06, -5.83632e-06, 0, 9.87067e-06, 0, 1.54177e-05] },
+l_gripper_r_finger_tip_link_0(l_gripper_r_finger_tip_joint): { Q: [0, 0, 0, -1.03412e-13, 1, 0, 0], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/l_finger_tip.h5> },
+l_gripper_joint(l_gripper_r_finger_tip_joint): { joint: transY, limits: [0, 0.09] }

robotic/rai-robotModels/ranger/ranger.g

@@ -9,15 +9,15 @@ ranger_transY(ranger_transX) { joint: transY, limits: [-5 5], ctrl_H: 2., motorL
 ranger_rot(ranger_transY) { }
 
 Prefix: ranger_
-Include: <ranger_clean.g>
+Include: <ranger_mini_conv.g>
 Prefix!
 
 ranger_coll(ranger_base_link) { Q:[0, 0, -.14], shape: ssBox, size: [.75, .5, .3, .05], color:[1.,1.,1.,.5], contact: 1 }
 
-Edit ranger_fr_Link_0: { meshscale: .025, color:[.9] }
-Edit ranger_fl_Link_0: { meshscale: .025, color:[.9] }
-Edit ranger_br_Link_0: { meshscale: .025, color:[.9] }
-Edit ranger_bl_Link_0: { meshscale: .025, color:[.9] }
+Edit ranger_fr_Link_0: { color:[.9] }
+Edit ranger_fl_Link_0: { color:[.9] }
+Edit ranger_br_Link_0: { color:[.9] }
+Edit ranger_bl_Link_0: { color:[.9] }
 Edit ranger_base_link_0: { color:[.9] }
 
 Edit ranger_base_link(ranger_rot): { Q:[0, 0, .315], mass: 20 }