PyPI - robotic - Versions diffs - 0.2.9.dev1__cp311-cp311-manylinux2014_x86_64.whl → 0.3.4.dev5__cp311-cp311-manylinux2014_x86_64.whl - Mend

robotic 0.2.9.dev1__cp311-cp311-manylinux2014_x86_64.whl → 0.3.4.dev5__cp311-cp311-manylinux2014_x86_64.whl

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robotic/rai-robotModels/baxter/baxter.g DELETED Viewed

@@ -1,49 +0,0 @@
-Include: <baxter_clean2.g>
-#Delete shape collision (head):
-#shape (head): { shape: mesh, size: [1, 1, 1, 1], Q: "T -0.0319886 -2.26154e-05 -0.00274816 -0.707107 0 -0.707107 0 ", mesh: <head/H0.STL>, color: [0.2, 0.2, 0.2, 1], rel_includes_mesh_center, }
-#shape (head): { shape: box, size: [0.218, 0.16, 0.001, 0], Q: "T -0.0157421 1.40048e-14 -0.119839 0.154854 -0.689942 -0.689942 0.154854 ", color: [0, 0, 0, 1] }
-#shape (head): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.0055038, -0.000139031, -0.0938075, -0.453099, -0.453099, -0.542864, 0.542864], mesh: <head/H1.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-(head): { shape: box, size: [0.27, 0.19, 0.03, 0], Q: [-0.0157421, 0, -0.119839, 0.154854, -0.689942, -0.689942, 0.154854], color: [1, 0, 0] }
-## zero position
-Edit right_s0: { q: 0.08, robot }
-Edit left_s0: { q: -0.08, robot }
-Edit right_s1: { q: -1, robot }
-Edit left_s1: { q: -1, robot }
-Edit right_e0: { q: 1.17, robot }
-Edit left_e0: { q: -1.17, robot }
-Edit right_e1: { q: 1.94, robot }
-Edit left_e1: { q: 1.94, robot }
-Edit right_w0: { q: -0.67, robot }
-Edit left_w0: { q: 0.67, robot }
-Edit right_w1: { q: 1.02, robot }
-Edit left_w1: { q: 1.02, robot }
-Edit right_w2: { q: 0.5, robot }
-Edit left_w2: { q: -0.5, robot }
-Edit joint: { ctrl_H: 1. }
-## extra shapes to mimick pr2
-base_footprint: { mass: 100 }
-base_footprint_1(base_footprint): { shape: marker, size: [.1, 0, 0, 0] } #marker
-(base_footprint base): { joint: rigid, pre: "t(0 0 1)" }
-torso_lift_link_0 (base): { shape: marker, size: [.3, .3, .3, 0] }
-## extra shapes
-#endeffBase(torso_lift_link): { Q: "T d(90 0 1 0) t(.2 0 0)", shape: marker, color: [1, 0, 0], size: [.1, 0, 0, 0]}
-endeffHead(head): { Q: "T d(-90 0 0 1) d(-15 1 0 0)", shape: marker, color: [1, 0, 0], size: [.2, 0, 0, 0]}
-#endeffWorkspace(torso_lift_link): { Q: "T d(90 0 1 0) t(.7 0 -.1) d(-90 0 0 1) ", shape: marker, color: [1, 0, 0], size: [.1, 0, 0, 0] }
-baxterR (right_wrist): { Q: "T d(-90 0 1 0) d(-90 0 0 1) t(0 0 -.26)", shape: marker, size: [.1, 0, 0, 0], color: [1, 1, 0] }
-baxterL (left_wrist): { Q: "T d(-90 0 1 0) d(-90 0 0 1) t(0 0 -.26)", shape: marker, size: [.1, 0, 0, 0], color: [1, 1, 0] }
-elbowL(left_lower_shoulder): { Q: "T d(180 1 0 0) t(0 0 .42)", shape: marker, color: [1, 0, 0], size: [.2, 0, 0, 0]}
-elbowR(right_lower_shoulder): { Q: "T d(180 1 0 0) t(0 0 .42)", shape: marker, color: [1, 0, 0], size: [.2, 0, 0, 0]}
-wristR(right_upper_forearm): { Q: "T d(180 1 0 0) t(0 0 .0)", shape: marker, color: [1, 0, 0], size: [.4, 0, 0, 0]}
-wristL(left_upper_forearm): { Q: "T d(180 1 0 0) t(0 0 .0)", shape: marker, color: [1, 0, 0], size: [.4, 0, 0, 0]}

robotic/rai-robotModels/baxter/baxter_clean.g DELETED Viewed

@@ -1,116 +0,0 @@
-body base: { mass: 185.633 }
-body head: { X: [0.06, 0, 0.686, 0.707107, 0, -0.707107, 0], mass: 1.02313 }
-body right_upper_shoulder: { X: [0.0640272, -0.259027, 0.129626, 0.653281, -0.270599, -0.653281, -0.270599], mass: 8.77895 }
-body left_upper_shoulder: { X: [0.0640272, 0.259027, 0.129626, 0.653281, 0.270599, -0.653281, 0.270599], mass: 8.77895 }
-body right_lower_shoulder: { X: [0.112818, -0.307818, 0.399976, -0.653282, 0.653282, 0.270597, -0.270597], mass: 7.67181 }
-body left_lower_shoulder: { X: [0.112818, 0.307818, 0.399976, -0.270597, 0.270597, 0.653282, -0.653282], mass: 7.67181 }
-body right_upper_elbow: { X: [0.184942, -0.379943, 0.399976, 0.923879, 1.32497e-12, -3.19872e-12, -0.382684], mass: 5.52286 }
-body left_upper_elbow: { X: [0.184942, 0.379943, 0.399976, 0.923879, 3.19889e-12, -1.32491e-12, 0.382684], mass: 5.52286 }
-body right_lower_elbow: { X: [0.370501, -0.565502, 0.330976, -0.653282, 0.653282, 0.270597, -0.270597], mass: 6.27938 }
-body left_lower_elbow: { X: [0.370501, 0.565502, 0.330976, -0.270597, 0.270597, 0.653282, -0.653282], mass: 6.27938 }
-body right_upper_forearm: { X: [0.44375, -0.638751, 0.330976, 0.923879, 3.58688e-12, -4.13569e-12, -0.382684], mass: 3.24201 }
-body left_upper_forearm: { X: [0.44375, 0.638751, 0.330976, 0.923879, 5.46085e-12, -3.87967e-13, 0.382684], mass: 3.24201 }
-body right_lower_forearm: { X: [0.635163, -0.830166, 0.320976, -0.653282, 0.653282, 0.270597, -0.270597], mass: 2.74076 }
-body left_lower_forearm: { X: [0.635163, 0.830166, 0.320976, -0.270597, 0.270597, 0.653282, -0.653282], mass: 2.74076 }
-body right_wrist: { X: [0.71717, -0.912173, 0.320976, 0.923879, 5.8489e-12, -5.07266e-12, -0.382684], mass: 3.22029 }
-body left_wrist: { X: [0.71717, 0.912173, 0.320976, 0.923879, 7.72288e-12, 5.4895e-13, 0.382684], mass: 3.22029 }
-body r_gripper_l_finger: { X: [0.828221, -1.02535, 0.320976, -0.653282, -0.653282, -0.270597, -0.270597], mass: 0.0526538 }
-body r_gripper_r_finger: { X: [0.830342, -1.02322, 0.320976, -0.653282, -0.653282, -0.270597, -0.270597], mass: 0.0526538 }
-body l_gripper_l_finger: { X: [0.830342, 1.02322, 0.320976, -0.270597, -0.270597, -0.653282, -0.653282], mass: 0.0553155 }
-body l_gripper_r_finger: { X: [0.828221, 1.02535, 0.320976, -0.270597, -0.270597, -0.653282, -0.653282], mass: 0.0553155 }
-shape visual (base): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.0286935, -0.000728762, 0.371004, 1, 0, 0, 0], mesh: <torso/base_link.STL>, color: [0.2, 0.2, 0.2, 1], rel_includes_mesh_center, }
-shape collision_base (base): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.0648345, 1.53654e-05, 0.172863, 1, 0, 0, 0], contact: -2, mesh: <torso/base_link_collision.STL>, rel_includes_mesh_center, }
-shape visual (head): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.0319886, -2.26154e-05, -0.00274816, -0.707107, 0, -0.707107, 0], mesh: <head/H0.STL>, color: [0.2, 0.2, 0.2, 1], rel_includes_mesh_center, }
-shape collision_head (head): { shape: sphere, size: [0, 0, 0, 0.001], Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], contact: -2 }
-shape visual (base): { shape: capsule, size: [0, 0, 0.01, 0.085], Q: [0.06, 8.1634e-19, 0.827118, -1, 0, 0, 0], color: [0.2, 0.2, 0.2, 1], rel_includes_mesh_center, }
-shape collision_base (base): { shape: sphere, size: [0, 0, 0, 0.001], Q: [0.0947, 0, 0.817, -1, 0, 0, 0], contact: -2 }
-shape visual (head): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.0055038, -0.000139031, -0.0938075, -0.453099, -0.453099, -0.542864, 0.542864], mesh: <head/H1.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_head (head): { shape: sphere, size: [0, 0, 0, 0.001], Q: [2.72449e-17, 0, -0.1227, 0.063474, -0.704252, -0.704252, 0.063474], contact: -2 }
-shape visual (head): { shape: box, size: [0.218, 0.16, 0.001, 0], Q: [-0.0157421, 1.40048e-14, -0.119839, 0.154854, -0.689942, -0.689942, 0.154854], color: [0, 0, 0, 1] }
-shape visual (base): { shape: sphere, size: [0, 0, 0, 0.001], Q: [0.11, 0, 0.75, 1, 0, 0, 0], color: [0.8, 0.3, 0.3, 0.3] }
-#shape collision_base (base): { shape: sphere, size: [0, 0, 0, 0.22], Q: [0.04, -0.04, 0.75, 1, 0, 0, 0], contact: -2 }
-shape visual (base): { shape: sphere, size: [0, 0, 0, 0.001], Q: [0.11, 0, 0.75, 1, 0, 0, 0], color: [0.8, 0.3, 0.3, 0.3] }
-#shape collision_base (base): { shape: sphere, size: [0, 0, 0, 0.22], Q: [0.04, 0.04, 0.75, 1, 0, 0, 0], contact: -2 }
-shape visual (right_upper_shoulder): { shape: mesh, size: [1, 1, 1, 1], Q: [0.204968, -0.000259649, -0.0560219, -0.707107, 0, -0.707107, 0], mesh: <upper_shoulder/S0.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_right_upper_shoulder (right_upper_shoulder): { shape: capsule, size: [0, 0, 0.2722, 0.06], Q: [0.152112, -1.33336e-18, 3.36804e-17, -0.707107, 0, -0.707107, 0], contact: -2, rel_includes_mesh_center, }
-shape visual (right_lower_shoulder): { shape: mesh, size: [1, 1, 1, 1], Q: [6.04869e-05, -2.01515e-05, -0.0561637, -0.707107, 0, -0.707107, 0], mesh: <lower_shoulder/S1.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_right_lower_shoulder (right_lower_shoulder): { shape: capsule, size: [0, 0, 0.12, 0.06], Q: [0.00705882, -1.33336e-18, 1.47213e-18, -0.707107, 0, -0.707107, 0], contact: -2, rel_includes_mesh_center, }
-shape visual (right_upper_elbow): { shape: mesh, size: [1, 1, 1, 1], Q: [0.217587, -2.10593e-05, 0.0125858, -0.707107, 0, -0.707107, 0], mesh: <upper_elbow/E0.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_right_upper_elbow (right_upper_elbow): { shape: capsule, size: [0, 0, 0.107, 0.06], Q: [-0.0472059, -1.33336e-18, -1.05771e-17, -0.707107, 0, -0.707107, 0], contact: -3, rel_includes_mesh_center, }
-shape collision_right_lower_shoulder (right_lower_shoulder): { shape: capsule, size: [0, 0, 0.273, 0.06], Q: [7.47116e-13, -7.47017e-13, -0.259559, 3.46251e-12, 0.707107, 0.707107, 5.55112e-17], contact: -2, rel_includes_mesh_center, }
-shape visual (right_lower_elbow): { shape: mesh, size: [1, 1, 1, 1], Q: [4.23177e-05, 0.000105171, -0.0200289, -0.707107, 0, -0.707107, 0], mesh: <lower_elbow/E1.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_right_lower_elbow (right_lower_elbow): { shape: capsule, size: [0, 0, 0.1, 0.06], Q: [0.00588235, -1.33336e-18, 1.21091e-18, -0.707107, 0, -0.707107, 0], contact: -2, rel_includes_mesh_center, }
-shape visual (right_upper_forearm): { shape: mesh, size: [1, 1, 1, 1], Q: [0.132336, -0.00156713, 0.0374155, -0.707107, 0, -0.707107, 0], mesh: <upper_forearm/W0.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_right_upper_forearm (right_upper_forearm): { shape: capsule, size: [0, 0, 0.088, 0.06], Q: [-0.0388235, -1.33336e-18, -8.71579e-18, -0.707107, 0, -0.707107, 0], contact: -3, rel_includes_mesh_center, }
-shape collision_right_lower_elbow (right_lower_elbow): { shape: capsule, size: [0, 0, 0.272, 0.06], Q: [7.44375e-13, -7.44281e-13, -0.24, 3.46251e-12, 0.707107, 0.707107, 5.55112e-17], contact: -10, rel_includes_mesh_center, }
-shape visual (right_lower_forearm): { shape: mesh, size: [1, 1, 1, 1], Q: [0.00191909, -0.00263826, -0.0345565, -0.707107, 0, -0.707107, 0], mesh: <lower_forearm/W1.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_right_lower_forearm (right_lower_forearm): { shape: capsule, size: [0, 0, 0.1, 0.06], Q: [0.00588235, -1.33336e-18, 1.21091e-18, -0.707107, 0, -0.707107, 0], contact: -2, rel_includes_mesh_center, }
-shape visual (right_wrist): { shape: mesh, size: [1, 1, 1, 1], Q: [0.106397, 0.0019882, -0.0192091, -0.707107, 0, -0.707107, 0], mesh: <wrist/W2.STL>, color: [0.1, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_right_wrist (right_wrist): { shape: capsule, size: [0, 0, 0.165, 0.06], Q: [0.00970588, -1.33336e-18, 2.0599e-18, -0.707107, 0, -0.707107, 0], contact: -3, rel_includes_mesh_center, }
-shape collision_right_wrist (right_wrist): { shape: capsule, size: [0, 0, 0.0464, 0.04], Q: [0.0930794, -1.00682e-18, 2.05368e-17, -0.707107, 0, -0.707107, 0], contact: -3, rel_includes_mesh_center, }
-shape visual (right_wrist): { shape: capsule, size: [0, 0, 0.01, 0.02], Q: [0.129493, 0.012, -0.03825, -0.5, 0.5, -0.5, 0.5], color: [0, 0, 1, 0.8], rel_includes_mesh_center, }
-shape visual (right_wrist): { shape: box, size: [0.005, 0.02, 0.005, 0], Q: [0.14235, -0.020245, -0.032, -0.707107, 0.707107, -1.73112e-12, 1.73128e-12], color: [0, 0, 1, 0.8] }
-shape visual (right_wrist): { shape: box, size: [0.01, 0.01, 0.01, 0], Q: [0.09895, 0.000133, -0.00198, -0.707107, 0, -0.707107, 0], color: [0, 0, 0, 1] }
-shape visual (left_upper_shoulder): { shape: mesh, size: [1, 1, 1, 1], Q: [0.204968, -0.000259649, -0.0560219, -0.707107, 0, -0.707107, 0], mesh: <upper_shoulder/S0.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_left_upper_shoulder (left_upper_shoulder): { shape: capsule, size: [0, 0, 0.2722, 0.06], Q: [0.152112, -1.33336e-18, 3.36804e-17, -0.707107, 0, -0.707107, 0], contact: -2, rel_includes_mesh_center, }
-shape visual (left_lower_shoulder): { shape: mesh, size: [1, 1, 1, 1], Q: [6.04869e-05, -2.01515e-05, -0.0561637, -0.707107, 0, -0.707107, 0], mesh: <lower_shoulder/S1.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_left_lower_shoulder (left_lower_shoulder): { shape: capsule, size: [0, 0, 0.12, 0.06], Q: [0.00705882, -1.33336e-18, 1.47213e-18, -0.707107, 0, -0.707107, 0], contact: -2, rel_includes_mesh_center, }
-shape visual (left_upper_elbow): { shape: mesh, size: [1, 1, 1, 1], Q: [0.217587, -2.10593e-05, 0.0125858, -0.707107, 0, -0.707107, 0], mesh: <upper_elbow/E0.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_left_upper_elbow (left_upper_elbow): { shape: capsule, size: [0, 0, 0.107, 0.06], Q: [-0.0472059, -1.33336e-18, -1.05771e-17, -0.707107, 0, -0.707107, 0], contact: -3, rel_includes_mesh_center, }
-shape collision_left_lower_shoulder (left_lower_shoulder): { shape: capsule, size: [0, 0, 0.273, 0.06], Q: [7.47116e-13, -7.47017e-13, -0.259559, 3.46251e-12, 0.707107, 0.707107, 5.55112e-17], contact: -2, rel_includes_mesh_center, }
-shape visual (left_lower_elbow): { shape: mesh, size: [1, 1, 1, 1], Q: [4.23177e-05, 0.000105171, -0.0200289, -0.707107, 0, -0.707107, 0], mesh: <lower_elbow/E1.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_left_lower_elbow (left_lower_elbow): { shape: capsule, size: [0, 0, 0.1, 0.06], Q: [0.00588235, -1.33336e-18, 1.21091e-18, -0.707107, 0, -0.707107, 0], contact: -2, rel_includes_mesh_center, }
-shape visual (left_upper_forearm): { shape: mesh, size: [1, 1, 1, 1], Q: [0.132336, -0.00156713, 0.0374155, -0.707107, 0, -0.707107, 0], mesh: <upper_forearm/W0.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_left_upper_forearm (left_upper_forearm): { shape: capsule, size: [0, 0, 0.088, 0.06], Q: [-0.0388235, -1.33336e-18, -8.71579e-18, -0.707107, 0, -0.707107, 0], contact: -3, rel_includes_mesh_center, }
-shape collision_left_lower_elbow (left_lower_elbow): { shape: capsule, size: [0, 0, 0.272, 0.06], Q: [7.44375e-13, -7.44281e-13, -0.24, 3.46251e-12, 0.707107, 0.707107, 5.55112e-17], contact: -2, rel_includes_mesh_center, }
-shape visual (left_lower_forearm): { shape: mesh, size: [1, 1, 1, 1], Q: [0.00191909, -0.00263826, -0.0345565, -0.707107, 0, -0.707107, 0], mesh: <lower_forearm/W1.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_left_lower_forearm (left_lower_forearm): { shape: capsule, size: [0, 0, 0.1, 0.06], Q: [0.00588235, -1.33336e-18, 1.21091e-18, -0.707107, 0, -0.707107, 0], contact: -2, rel_includes_mesh_center, }
-shape visual (left_wrist): { shape: mesh, size: [1, 1, 1, 1], Q: [0.106397, 0.0019882, -0.0192091, -0.707107, 0, -0.707107, 0], mesh: <wrist/W2.STL>, color: [0.1, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_left_wrist (left_wrist): { shape: capsule, size: [0, 0, 0.165, 0.06], Q: [0.00970588, -1.33336e-18, 2.0599e-18, -0.707107, 0, -0.707107, 0], contact: -3, rel_includes_mesh_center, }
-shape collision_left_wrist (left_wrist): { shape: capsule, size: [0, 0, 0.0464, 0.04], Q: [0.0930794, -1.00682e-18, 2.05368e-17, -0.707107, 0, -0.707107, 0], contact: -3, rel_includes_mesh_center, }
-shape visual (left_wrist): { shape: capsule, size: [0, 0, 0.01, 0.02], Q: [0.129493, 0.012, -0.03825, -0.5, 0.5, -0.5, 0.5], color: [0, 0, 1, 0.8], rel_includes_mesh_center, }
-shape visual (left_wrist): { shape: box, size: [0.005, 0.02, 0.005, 0], Q: [0.14235, -0.020245, -0.032, -0.707107, 0.707107, -1.73112e-12, 1.73128e-12], color: [0, 0, 1, 0.8] }
-shape visual (left_wrist): { shape: box, size: [0.01, 0.01, 0.01, 0], Q: [0.09895, 0.000133, -0.00198, -0.707107, 0, -0.707107, 0], color: [0, 0, 0, 1] }
-shape visual (base): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.026058, 0.000178965, -0.772106, 1, 0, 0, 0], mesh: <base/PEDESTAL.STL>, color: [0.2, 0.2, 0.2, 1], rel_includes_mesh_center, }
-shape collision_base (base): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.0426509, -0.000255201, -0.589587, 1, 0, 0, 0], mesh: <base/pedestal_link_collision.STL>, rel_includes_mesh_center, }
-shape visual (left_wrist): { shape: mesh, size: [1, 1, 1, 1], Q: [0.139922, -0.000401862, 0.00785846, 0.5, -0.5, -0.5, -0.5], mesh: <electric_gripper/electric_gripper_base.STL>, rel_includes_mesh_center, }
-shape collision_left_wrist (left_wrist): { shape: capsule, size: [0, 0, 0.1, 0.029], Q: [0.13855, 0.00588235, 3.06724e-17, 0.5, -0.5, -0.5, -0.5], color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, contact: -2 }
-shape visual (l_gripper_l_finger): { shape: mesh, size: [1, 1, 1, 1], Q: [0.00211614, 0.00383573, 0.0286702, 0.707107, -0, 0, 0.707107], mesh: <electric_gripper/fingers/extended_narrow.STL>, rel_includes_mesh_center, }
-shape collision_l_gripper_l_finger (l_gripper_l_finger): { shape: box, size: [0.01, 0.0135, 0.1127, 0], Q: [0.01725, 3.83027e-18, 0.0615, 0.707107, -0, 0, 0.707107] }
-shape visual (l_gripper_l_finger): { shape: mesh, size: [1, 1, 1, 1], Q: [0.0110665, -6.99422e-05, 0.0992843, -0.707107, 0, 0, -0.707107], mesh: <electric_gripper/fingers/paddle_tip.STL>, rel_includes_mesh_center, }
-shape collision_l_gripper_l_finger (l_gripper_l_finger): { shape: box, size: [0.042, 0.0065, 0.037, 0], Q: [0.01275, 2.83107e-18, 0.0977, -0.707107, 0, 0, -0.707107] }
-shape visual (l_gripper_r_finger): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.00211614, -0.00383573, 0.0286702, -0.707107, 0, 0, 0.707107], mesh: <electric_gripper/fingers/extended_narrow.STL>, rel_includes_mesh_center, }
-shape collision_l_gripper_r_finger (l_gripper_r_finger): { shape: box, size: [0.01, 0.0135, 0.1127, 0], Q: [-0.01725, -3.83027e-18, 0.0615, -0.707107, 0, 0, 0.707107] }
-shape visual (l_gripper_r_finger): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.0110665, 6.99422e-05, 0.0992843, -0.707107, 0, 0, 0.707107], mesh: <electric_gripper/fingers/paddle_tip.STL>, rel_includes_mesh_center, }
-shape collision_l_gripper_r_finger (l_gripper_r_finger): { shape: box, size: [0.042, 0.0065, 0.037, 0], Q: [-0.01275, -2.83107e-18, 0.0977, -0.707107, 0, 0, 0.707107] }
-shape visual (right_wrist): { shape: mesh, size: [1, 1, 1, 1], Q: [0.139922, -0.000401862, 0.00785846, 0.5, -0.5, -0.5, -0.5], mesh: <electric_gripper/electric_gripper_base.STL>, rel_includes_mesh_center, }
-shape collision_right_wrist (right_wrist): { shape: capsule, size: [0, 0, 0.1, 0.029], Q: [0.13855, 0.00588235, 3.06724e-17, 0.5, -0.5, -0.5, -0.5], color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, contact: -2 }
-shape visual (r_gripper_l_finger): { shape: mesh, size: [1, 1, 1, 1], Q: [0.00211614, 0.00383573, 0.0286702, 0.707107, -0, 0, 0.707107], mesh: <electric_gripper/fingers/extended_narrow.STL>, rel_includes_mesh_center, }
-shape collision_r_gripper_l_finger (r_gripper_l_finger): { shape: box, size: [0.01, 0.0135, 0.1127, 0], Q: [0.01725, 3.83027e-18, 0.0615, 0.707107, -0, 0, 0.707107] }
-shape visual (r_gripper_l_finger): { shape: mesh, size: [1, 1, 1, 1], Q: [0.0119087, 0.0002756, 0.0933624, -0.707107, 0, 0, -0.707107], mesh: <electric_gripper/fingers/half_round_tip.STL>, rel_includes_mesh_center, }
-shape collision_r_gripper_l_finger (r_gripper_l_finger): { shape: capsule, size: [0, 0, 0.037, 0.008], Q: [0.01275, 2.83915e-18, 0.0998765, -0.707107, 0, 0, -0.707107], rel_includes_mesh_center, }
-shape visual (r_gripper_r_finger): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.00211614, -0.00383573, 0.0286702, -0.707107, 0, 0, 0.707107], mesh: <electric_gripper/fingers/extended_narrow.STL>, rel_includes_mesh_center, }
-shape collision_r_gripper_r_finger (r_gripper_r_finger): { shape: box, size: [0.01, 0.0135, 0.1127, 0], Q: [-0.01725, -3.83027e-18, 0.0615, -0.707107, 0, 0, 0.707107] }
-shape visual (r_gripper_r_finger): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.0119087, -0.0002756, 0.0933624, -0.707107, 0, 0, 0.707107], mesh: <electric_gripper/fingers/half_round_tip.STL>, rel_includes_mesh_center, }
-shape collision_r_gripper_r_finger (r_gripper_r_finger): { shape: capsule, size: [0, 0, 0.037, 0.008], Q: [-0.01275, -2.83915e-18, 0.0998765, -0.707107, 0, 0, 0.707107], rel_includes_mesh_center, }
-joint head_pan (base head): { joint: hingeX, from: [0.06, 0, 0.686, 0.707107, 0, -0.707107, 0], limits: [-1.3963, 1.3963], ctrl_limits: [10000, 50000, 1] }
-joint right_s0 (base right_upper_shoulder): { joint: hingeX, from: [0.0640272, -0.259027, 0.129626, 0.653281, -0.270599, -0.653281, -0.270599], limits: [-1.70168, 1.70168], ctrl_limits: [1.5, 50, 1] }
-joint left_s0 (base left_upper_shoulder): { joint: hingeX, from: [0.0640272, 0.259027, 0.129626, 0.653281, 0.270599, -0.653281, 0.270599], limits: [-1.70168, 1.70168], ctrl_limits: [1.5, 50, 1] }
-joint right_s1 (right_upper_shoulder right_lower_shoulder): { joint: hingeX, from: [0.27035, 0, -0.069, -0.707107, 1.11022e-16, -5.55112e-17, -0.707107], limits: [-2.147, 1.047], ctrl_limits: [1.5, 50, 1] }
-joint left_s1 (left_upper_shoulder left_lower_shoulder): { joint: hingeX, from: [0.27035, 0, -0.069, -0.707107, 1.11022e-16, -5.55112e-17, -0.707107], limits: [-2.147, 1.047], ctrl_limits: [1.5, 50, 1] }
-joint right_e0 (right_lower_shoulder right_upper_elbow): { joint: hingeX, from: [2.26485e-17, 0, -0.102, -0.5, -0.5, -0.5, 0.5], limits: [-3.05418, 3.05418], ctrl_limits: [1.5, 50, 1] }
-joint left_e0 (left_lower_shoulder left_upper_elbow): { joint: hingeX, from: [2.26485e-17, 0, -0.102, -0.5, -0.5, -0.5, 0.5], limits: [-3.05418, 3.05418], ctrl_limits: [1.5, 50, 1] }
-joint right_e1 (right_upper_elbow right_lower_elbow): { joint: hingeX, from: [0.26242, 0, -0.069, -0.5, 0.5, 0.5, -0.5], limits: [-0.05, 2.618], ctrl_limits: [1.5, 50, 1] }
-joint left_e1 (left_upper_elbow left_lower_elbow): { joint: hingeX, from: [0.26242, 0, -0.069, -0.5, 0.5, 0.5, -0.5], limits: [-0.05, 2.618], ctrl_limits: [1.5, 50, 1] }
-joint right_w0 (right_lower_elbow right_upper_forearm): { joint: hingeX, from: [2.30016e-17, 0, -0.10359, -0.5, -0.5, -0.5, 0.5], limits: [-3.059, 3.059], ctrl_limits: [4, 15, 1] }
-joint left_w0 (left_lower_elbow left_upper_forearm): { joint: hingeX, from: [2.30016e-17, 0, -0.10359, -0.5, -0.5, -0.5, 0.5], limits: [-3.059, 3.059], ctrl_limits: [4, 15, 1] }
-joint right_w1 (right_upper_forearm right_lower_forearm): { joint: hingeX, from: [0.2707, 0, -0.01, -0.5, 0.5, 0.5, -0.5], limits: [-1.5708, 2.094], ctrl_limits: [4, 15, 1] }
-joint left_w1 (left_upper_forearm left_lower_forearm): { joint: hingeX, from: [0.2707, 0, -0.01, -0.5, 0.5, 0.5, -0.5], limits: [-1.5708, 2.094], ctrl_limits: [4, 15, 1] }
-joint right_w2 (right_lower_forearm right_wrist): { joint: hingeX, from: [2.57516e-17, 0, -0.115975, -0.5, -0.5, -0.5, 0.5], limits: [-3.059, 3.059], ctrl_limits: [4, 15, 1] }
-joint left_w2 (left_lower_forearm left_wrist): { joint: hingeX, from: [2.57516e-17, 0, -0.115975, -0.5, -0.5, -0.5, 0.5], limits: [-3.059, 3.059], ctrl_limits: [4, 15, 1] }
-joint r_gripper_l_finger_joint (right_wrist r_gripper_l_finger): { joint: transX, from: [0.15855, -0.0015, 3.52052e-17, -0.5, -0.5, -0.5, -0.5], limits: [0, 0.020833], ctrl_limits: [5, 20, 1], r_gripper }
-joint r_gripper_r_finger_joint (right_wrist r_gripper_r_finger): { joint: transX, from: "t(0.15855 0.0015 0) d(90 1 0 0) d(-90 0 1 0) ", to: "d(-180 0 1 0)", mimic: "r_gripper_l_finger_joint", limits: [-0.020833, 0], ctrl_limits: [5, 20, 1], r_gripper }
-joint l_gripper_l_finger_joint (left_wrist l_gripper_l_finger): { joint: transX, from: [0.15855, -0.0015, 3.52052e-17, -0.5, -0.5, -0.5, -0.5], limits: [0, 0.020833], ctrl_limits: [5, 20, 1], l_gripper }
-joint l_gripper_r_finger_joint (left_wrist l_gripper_r_finger): { joint: transX, from: "t(0.15855 0.0015 0) d(90 1 0 0) d(-90 0 1 0) ", to: "d(-180 0 1 0)", mimic: "l_gripper_l_finger_joint", limits: [-0.020833, 0], ctrl_limits: [5, 20, 1], l_gripper}

robotic/rai-robotModels/baxter/baxter_clean2.g DELETED Viewed

@@ -1,205 +0,0 @@
-base: {  }
-collision_head_1_origin(base): { rel: [0.11, 0, 0.75, 1, 0, 0, 0] }
-collision_head_2_origin(base): { rel: [0.11, 0, 0.75, 1, 0, 0, 0] }
-torso_t0(base): { joint: rigid, limits: [-3.01, 3.01], ctrl_limits: [10000, -1, 50000] }
-collision_head_1(collision_head_1_origin): { joint: rigid }
-collision_head_2(collision_head_2_origin): { joint: rigid }
-torso(torso_t0): { mass: 35.3365, inertia: [1.84916, -0.000354, -0.154188, 1.66267, 0.003292, 0.802239] }
-collision_head_link_1(collision_head_1): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-collision_head_link_2(collision_head_2): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-torso_0(torso): { shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <baxter_description/meshes/torso/base_link.ply>, visual: True }
-left_torso_itb_fixed_origin(torso): { rel: [-0.08897, 0.15593, 0.389125, 3.2758e-05, -3.2758e-05, 0.707107, 0.707107] }
-right_torso_itb_fixed_origin(torso): { rel: [-0.08897, -0.15593, 0.389125, 0.707107, 0.707107, 0, 0] }
-head_pan_origin(torso): { rel: [0.06, 0, 0.686, 1, 0, 0, 0] }
-sonar_s0_origin(torso): { rel: [0.0947, 0, 0.817, 1, 0, 0, 0] }
-right_torso_arm_mount_origin(torso): { rel: [0.024645, -0.219645, 0.118588, 0.923879, 0, 0, -0.382684] }
-left_torso_arm_mount_origin(torso): { rel: [0.024645, 0.219645, 0.118588, 0.923879, 0, 0, 0.382684] }
-pedestal_fixed_origin(torso): {  }
-collision_head_link_1_0(collision_head_link_1): { shape: sphere, size: [0, 0, 0, 0.001], color: [0.8, 0.3, 0.3, 0.3], visual: True }
-collision_head_link_2_0(collision_head_link_2): { shape: sphere, size: [0, 0, 0, 0.001], color: [0.8, 0.3, 0.3, 0.3], visual: True }
-left_torso_itb_fixed(left_torso_itb_fixed_origin): { joint: rigid }
-right_torso_itb_fixed(right_torso_itb_fixed_origin): { joint: rigid }
-head_pan(head_pan_origin): { joint: hingeZ, limits: [-1.3963, 1.3963, 10000, -1, 50000], ctrl_limits: [10000, -1, 50000] }
-sonar_s0(sonar_s0_origin): { joint: rigid }
-right_torso_arm_mount(right_torso_arm_mount_origin): { joint: rigid }
-left_torso_arm_mount(left_torso_arm_mount_origin): { joint: rigid }
-pedestal_fixed(pedestal_fixed_origin): { joint: rigid }
-left_torso_itb(left_torso_itb_fixed): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_torso_itb(right_torso_itb_fixed): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-head(head_pan): { mass: 0.547767, inertia: [0.004641, 0.000159, 0.000242, 0.003295, -0.001324, 0.003415] }
-sonar_ring(sonar_s0): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_arm_mount(right_torso_arm_mount): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-left_arm_mount(left_torso_arm_mount): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-pedestal(pedestal_fixed): { mass: 60.864, inertia: [5.06359, 0.00103417, 0.801996, 6.08689, 0.00105311, 4.96192] }
-head_0(head): { rel: [0, 0, 0.00953, 1, 0, 0, 0], shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <baxter_description/meshes/head/H0.ply>, visual: True }
-dummy(head): { joint: rigid }
-head_nod_origin(head): { rel: [0.1227, 0, 0, 0.453099, 0.542864, 0.542864, 0.453099] }
-head_camera_origin(head): { rel: [0.12839, 0, 0.06368, 0.453099, 0.542864, 0.542864, 0.453099] }
-sonar_ring_0(sonar_ring): { rel: [-0.0347, 0, 0.00953, 1, 0, 0, 0], shape: cylinder, size: [0, 0, 0.01, 0.085], color: [0.2, 0.2, 0.2, 1], visual: True }
-right_s0_origin(right_arm_mount): { rel: [0.055695, 0, 0.011038, 1, 0, 0, 0] }
-left_s0_origin(left_arm_mount): { rel: [0.055695, 0, 0.011038, 1, 0, 0, 0] }
-pedestal_0(pedestal): { shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <baxter_description/meshes/base/PEDESTAL.ply>, visual: True }
-dummyhead1(dummy): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-head_nod(head_nod_origin): { joint: rigid }
-head_camera(head_camera_origin): { joint: rigid }
-right_s0(right_s0_origin): { joint: hingeZ, limits: [-1.70168, 1.70168, 1.5, -1, 50], ctrl_limits: [1.5, -1, 50] }
-left_s0(left_s0_origin): { joint: hingeZ, limits: [-1.70168, 1.70168, 1.5, -1, 50], ctrl_limits: [1.5, -1, 50] }
-screen(head_nod): { mass: 0.440171, inertia: [0.004006, 0.00023, 2e-06, 0.0028, 2.9e-05, 0.001509] }
-head_camera_47(head_camera): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_upper_shoulder(right_s0): { mass: 5.70044, inertia: [0.047091, 0.000127876, 0.0061487, 0.0376698, 0.000780869, 0.0359599] }
-left_upper_shoulder(left_s0): { mass: 5.70044, inertia: [0.047091, 0.000127876, 0.0061487, 0.0376698, 0.000780869, 0.0359599] }
-screen_0(screen): { rel: [0, -0.00953, -0.0347, 0.707107, 0, -0.707107, 0], shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/head/H1.ply>, visual: True }
-display_joint_origin(screen): { rel: [0, -0.016, 0, 1, 0, 0, 0] }
-right_upper_shoulder_0(right_upper_shoulder): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/upper_shoulder/S0.ply>, visual: True }
-right_s1_origin(right_upper_shoulder): { rel: [0.069, 0, 0.27035, 0.707107, -0.707107, 0, 0] }
-left_upper_shoulder_0(left_upper_shoulder): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/upper_shoulder/S0.ply>, visual: True }
-left_s1_origin(left_upper_shoulder): { rel: [0.069, 0, 0.27035, 0.707107, -0.707107, 0, 0] }
-display_joint(display_joint_origin): { joint: rigid }
-right_s1(right_s1_origin): { joint: hingeZ, limits: [-2.147, 1.047, 1.5, -1, 50], ctrl_limits: [1.5, -1, 50] }
-left_s1(left_s1_origin): { joint: hingeZ, limits: [-2.147, 1.047, 1.5, -1, 50], ctrl_limits: [1.5, -1, 50] }
-display(display_joint): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_lower_shoulder(right_s1): { mass: 3.22698, inertia: [0.0117521, -0.000300964, 0.00207676, 0.027886, -0.00018822, 0.0207875] }
-left_lower_shoulder(left_s1): { mass: 3.22698, inertia: [0.0117521, -0.000300964, 0.00207676, 0.027886, -0.00018822, 0.0207875] }
-display_0(display): { rel: [0, 0, 0, 0.991445, 0.130526, 0, 0], shape: box, size: [0.218, 0.16, 0.001, 0], color: [0, 0, 0, 1], visual: True }
-right_lower_shoulder_0(right_lower_shoulder): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/lower_shoulder/S1.ply>, visual: True }
-right_e0_origin(right_lower_shoulder): { rel: [0.102, 0, 0, 0.5, 0.5, 0.5, 0.5] }
-right_e0_fixed_origin(right_lower_shoulder): { rel: [0.107, 0, 0, 0.5, 0.5, 0.5, 0.5] }
-left_lower_shoulder_0(left_lower_shoulder): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/lower_shoulder/S1.ply>, visual: True }
-left_e0_origin(left_lower_shoulder): { rel: [0.102, 0, 0, 0.5, 0.5, 0.5, 0.5] }
-left_e0_fixed_origin(left_lower_shoulder): { rel: [0.107, 0, 0, 0.5, 0.5, 0.5, 0.5] }
-right_e0(right_e0_origin): { joint: hingeZ, limits: [-3.05418, 3.05418, 1.5, -1, 50], ctrl_limits: [1.5, -1, 50] }
-right_e0_fixed(right_e0_fixed_origin): { joint: rigid }
-left_e0(left_e0_origin): { joint: hingeZ, limits: [-3.05418, 3.05418, 1.5, -1, 50], ctrl_limits: [1.5, -1, 50] }
-left_e0_fixed(left_e0_fixed_origin): { joint: rigid }
-right_upper_elbow(right_e0): { mass: 4.31272, inertia: [0.0266173, 0.000292706, 0.0039219, 0.0284436, 0.00108389, 0.0124801] }
-right_upper_elbow_visual(right_e0_fixed): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-left_upper_elbow(left_e0): { mass: 4.31272, inertia: [0.0266173, 0.000292706, 0.0039219, 0.0284436, 0.00108389, 0.0124801] }
-left_upper_elbow_visual(left_e0_fixed): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_upper_elbow_0(right_upper_elbow): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/upper_elbow/E0.ply>, visual: True }
-right_e1_origin(right_upper_elbow): { rel: [0.069, 0, 0.26242, 0.5, -0.5, -0.5, -0.5] }
-left_upper_elbow_0(left_upper_elbow): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/upper_elbow/E0.ply>, visual: True }
-left_e1_origin(left_upper_elbow): { rel: [0.069, 0, 0.26242, 0.5, -0.5, -0.5, -0.5] }
-right_e1(right_e1_origin): { joint: hingeZ, limits: [-0.05, 2.618, 1.5, -1, 50], ctrl_limits: [1.5, -1, 50] }
-left_e1(left_e1_origin): { joint: hingeZ, limits: [-0.05, 2.618, 1.5, -1, 50], ctrl_limits: [1.5, -1, 50] }
-right_lower_elbow(right_e1): { mass: 2.07206, inertia: [0.00711583, 0.000360362, 0.00074595, 0.0131823, -0.000196634, 0.00926852] }
-left_lower_elbow(left_e1): { mass: 2.07206, inertia: [0.00711583, 0.000360362, 0.00074595, 0.0131823, -0.000196634, 0.00926852] }
-right_lower_elbow_0(right_lower_elbow): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/lower_elbow/E1.ply>, visual: True }
-right_w0_origin(right_lower_elbow): { rel: [0.10359, 0, 0, 0.5, 0.5, 0.5, 0.5] }
-right_w0_fixed_origin(right_lower_elbow): { rel: [0.088, 0, 0, 0.5, 0.5, 0.5, 0.5] }
-left_lower_elbow_0(left_lower_elbow): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/lower_elbow/E1.ply>, visual: True }
-left_w0_origin(left_lower_elbow): { rel: [0.10359, 0, 0, 0.5, 0.5, 0.5, 0.5] }
-left_w0_fixed_origin(left_lower_elbow): { rel: [0.088, 0, 0, 0.5, 0.5, 0.5, 0.5] }
-right_w0(right_w0_origin): { joint: hingeZ, limits: [-3.059, 3.059, 4, -1, 15], ctrl_limits: [4, -1, 15] }
-right_w0_fixed(right_w0_fixed_origin): { joint: rigid }
-left_w0(left_w0_origin): { joint: hingeZ, limits: [-3.059, 3.059, 4, -1, 15], ctrl_limits: [4, -1, 15] }
-left_w0_fixed(left_w0_fixed_origin): { joint: rigid }
-right_upper_forearm(right_w0): { mass: 2.24665, inertia: [0.0166774, 0.000184037, 0.000186576, 0.0167546, -0.000647324, 0.00374631] }
-right_upper_forearm_visual(right_w0_fixed): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-left_upper_forearm(left_w0): { mass: 2.24665, inertia: [0.0166774, 0.000184037, 0.000186576, 0.0167546, -0.000647324, 0.00374631] }
-left_upper_forearm_visual(left_w0_fixed): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_upper_forearm_0(right_upper_forearm): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/upper_forearm/W0.ply>, visual: True }
-right_w0_to_itb_fixed_origin(right_upper_forearm): { rel: [-0.0565, 0, 0.12, 0.5, -0.5, -0.5, 0.5] }
-right_w1_origin(right_upper_forearm): { rel: [0.01, 0, 0.2707, 0.5, -0.5, -0.5, -0.5] }
-left_upper_forearm_0(left_upper_forearm): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/upper_forearm/W0.ply>, visual: True }
-left_w0_to_itb_fixed_origin(left_upper_forearm): { rel: [-0.0565, 0, 0.12, 0.5, -0.5, -0.5, 0.5] }
-left_w1_origin(left_upper_forearm): { rel: [0.01, 0, 0.2707, 0.5, -0.5, -0.5, -0.5] }
-right_w0_to_itb_fixed(right_w0_to_itb_fixed_origin): { joint: rigid }
-right_w1(right_w1_origin): { joint: hingeZ, limits: [-1.5708, 2.094, 4, -1, 15], ctrl_limits: [4, -1, 15] }
-left_w0_to_itb_fixed(left_w0_to_itb_fixed_origin): { joint: rigid }
-left_w1(left_w1_origin): { joint: hingeZ, limits: [-1.5708, 2.094, 4, -1, 15], ctrl_limits: [4, -1, 15] }
-right_arm_itb(right_w0_to_itb_fixed): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_lower_forearm(right_w1): { mass: 1.60979, inertia: [0.00387607, -0.000443848, -0.00021115, 0.00700538, 0.000153481, 0.00552755] }
-left_arm_itb(left_w0_to_itb_fixed): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-left_lower_forearm(left_w1): { mass: 1.60979, inertia: [0.00387607, -0.000443848, -0.00021115, 0.00700538, 0.000153481, 0.00552755] }
-right_lower_forearm_0(right_lower_forearm): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/lower_forearm/W1.ply>, visual: True }
-right_w2_origin(right_lower_forearm): { rel: [0.115975, 0, 0, 0.5, 0.5, 0.5, 0.5] }
-left_lower_forearm_0(left_lower_forearm): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/lower_forearm/W1.ply>, visual: True }
-left_w2_origin(left_lower_forearm): { rel: [0.115975, 0, 0, 0.5, 0.5, 0.5, 0.5] }
-right_w2(right_w2_origin): { joint: hingeZ, limits: [-3.059, 3.059, 4, -1, 15], ctrl_limits: [4, -1, 15] }
-left_w2(left_w2_origin): { joint: hingeZ, limits: [-3.059, 3.059, 4, -1, 15], ctrl_limits: [4, -1, 15] }
-right_wrist(right_w2): { mass: 0.35093, inertia: [0.000252892, 5.75311e-06, -1.59345e-06, 0.00026886, -5.19818e-06, 0.000307412] }
-left_wrist(left_w2): { mass: 0.35093, inertia: [0.000252892, 5.75311e-06, -1.59345e-06, 0.00026886, -5.19818e-06, 0.000307412] }
-right_wrist_0(right_wrist): { shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <baxter_description/meshes/wrist/W2.ply>, visual: True }
-right_hand_origin(right_wrist): { rel: [0, 0, 0.11355, 1, 0, 0, 0] }
-left_wrist_0(left_wrist): { shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <baxter_description/meshes/wrist/W2.ply>, visual: True }
-left_hand_origin(left_wrist): { rel: [0, 0, 0.11355, 1, 0, 0, 0] }
-right_hand(right_hand_origin): { joint: rigid }
-left_hand(left_hand_origin): { joint: rigid }
-right_hand_127(right_hand): { mass: 0.19125, inertia: [0.00017588, 1.47073e-06, 2.43633e-05, 0.000211664, 1.72689e-06, 0.000237454] }
-left_hand_128(left_hand): { mass: 0.19125, inertia: [0.00017588, 1.47073e-06, 2.43633e-05, 0.000211664, 1.72689e-06, 0.000237454] }
-right_hand_camera_origin(right_hand_127): { rel: [0.03825, 0.012, 0.015355, 0.707107, 0, 0, -0.707107] }
-right_hand_camera_axis_origin(right_hand_127): { rel: [0.03825, 0.012, 0.015355, 1, 0, 0, 0] }
-right_hand_range_origin(right_hand_127): { rel: [0.032, -0.020245, 0.0288, 0.5, -0.5, -0.5, -0.5] }
-right_hand_accelerometer_origin(right_hand_127): { rel: [0.00198, 0.000133, -0.0146, 1, 0, 0, 0] }
-right_gripper_base_origin(right_hand_127): { rel: [0, 0, 0.025, 1, 0, 0, 0] }
-left_hand_camera_origin(left_hand_128): { rel: [0.03825, 0.012, 0.015355, 0.707107, 0, 0, -0.707107] }
-left_hand_camera_axis_origin(left_hand_128): { rel: [0.03825, 0.012, 0.015355, 1, 0, 0, 0] }
-left_hand_range_origin(left_hand_128): { rel: [0.032, -0.020245, 0.0288, 0.5, -0.5, -0.5, -0.5] }
-left_hand_accelerometer_origin(left_hand_128): { rel: [0.00198, 0.000133, -0.0146, 1, 0, 0, 0] }
-left_gripper_base_origin(left_hand_128): { rel: [0, 0, 0.025, 1, 0, 0, 0] }
-right_hand_camera(right_hand_camera_origin): { joint: rigid }
-right_hand_camera_axis(right_hand_camera_axis_origin): { joint: rigid }
-right_hand_range(right_hand_range_origin): { joint: rigid }
-right_hand_accelerometer(right_hand_accelerometer_origin): { joint: rigid }
-right_gripper_base(right_gripper_base_origin): { joint: rigid }
-left_hand_camera(left_hand_camera_origin): { joint: rigid }
-left_hand_camera_axis(left_hand_camera_axis_origin): { joint: rigid }
-left_hand_range(left_hand_range_origin): { joint: rigid }
-left_hand_accelerometer(left_hand_accelerometer_origin): { joint: rigid }
-left_gripper_base(left_gripper_base_origin): { joint: rigid }
-right_hand_camera_149(right_hand_camera): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_hand_camera_axis_150(right_hand_camera_axis): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_hand_range_151(right_hand_range): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_hand_accelerometer_152(right_hand_accelerometer): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_gripper_base_153(right_gripper_base): { mass: 0.3, inertia: [2e-08, 3e-08, 2e-08] }
-left_hand_camera_154(left_hand_camera): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-left_hand_camera_axis_155(left_hand_camera_axis): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-left_hand_range_156(left_hand_range): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-left_hand_accelerometer_157(left_hand_accelerometer): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-left_gripper_base_158(left_gripper_base): { mass: 0.3, inertia: [2e-08, 3e-08, 2e-08] }
-right_hand_camera_0(right_hand_camera_149): { shape: cylinder, size: [0, 0, 0.01, 0.02], color: [0, 0, 1, 0.8], visual: True }
-right_hand_range_0(right_hand_range_151): { shape: box, size: [0.005, 0.02, 0.005, 0], color: [0, 0, 1, 0.8], visual: True }
-right_hand_accelerometer_0(right_hand_accelerometer_152): { shape: box, size: [0.01, 0.01, 0.01, 0], color: [0, 0, 0, 1], visual: True }
-right_gripper_base_0(right_gripper_base_153): { rel: [0, 0, 0, -7.3123e-14, 7.3123e-14, 0.707107, 0.707107], shape: mesh, color: [0.8, 0.8, 0.8], mesh: <rethink_ee_description/meshes/electric_gripper/electric_gripper_base.ply>, visual: True }
-right_endpoint_origin(right_gripper_base_153): { rel: [0, 0, 0.1327, 1, 0, 0, 0] }
-r_gripper_l_finger_joint_origin(right_gripper_base_153): { rel: [0, -0.0015, 0.02, 1, 0, 0, 0] }
-r_gripper_r_finger_joint_origin(right_gripper_base_153): { rel: [0, 0.0015, 0.02, 1, 0, 0, 0] }
-left_hand_camera_0(left_hand_camera_154): { shape: cylinder, size: [0, 0, 0.01, 0.02], color: [0, 0, 1, 0.8], visual: True }
-left_hand_range_0(left_hand_range_156): { shape: box, size: [0.005, 0.02, 0.005, 0], color: [0, 0, 1, 0.8], visual: True }
-left_hand_accelerometer_0(left_hand_accelerometer_157): { shape: box, size: [0.01, 0.01, 0.01, 0], color: [0, 0, 0, 1], visual: True }
-left_gripper_base_0(left_gripper_base_158): { rel: [0, 0, 0, -7.3123e-14, 7.3123e-14, 0.707107, 0.707107], shape: mesh, color: [0.8, 0.8, 0.8], mesh: <rethink_ee_description/meshes/electric_gripper/electric_gripper_base.ply>, visual: True }
-left_endpoint_origin(left_gripper_base_158): { rel: [0, 0, 0.1327, 1, 0, 0, 0] }
-l_gripper_l_finger_joint_origin(left_gripper_base_158): { rel: [0, -0.0015, 0.02, 1, 0, 0, 0] }
-l_gripper_r_finger_joint_origin(left_gripper_base_158): { rel: [0, 0.0015, 0.02, 1, 0, 0, 0] }
-right_endpoint(right_endpoint_origin): { joint: rigid }
-r_gripper_l_finger_joint(r_gripper_l_finger_joint_origin): { joint: transY, limits: [0, 0.020833, 5, -1, 20], ctrl_limits: [5, -1, 20] }
-r_gripper_r_finger_joint(r_gripper_r_finger_joint_origin): { joint: transY, limits: [-0.020833, 0, 5, -1, 20], mimic: "r_gripper_l_finger_joint", ctrl_limits: [5, -1, 20] }
-left_endpoint(left_endpoint_origin): { joint: rigid }
-l_gripper_l_finger_joint(l_gripper_l_finger_joint_origin): { joint: transY, limits: [0, 0.020833, 5, -1, 20], ctrl_limits: [5, -1, 20] }
-l_gripper_r_finger_joint(l_gripper_r_finger_joint_origin): { joint: transY, limits: [-0.020833, 0, 5, -1, 20], mimic: "l_gripper_l_finger_joint", ctrl_limits: [5, -1, 20] }
-right_gripper(right_endpoint): { mass: 0.0001, inertia: [0, 0, 0] }
-r_gripper_l_finger(r_gripper_l_finger_joint): { mass: 0.02, inertia: [0.01, 0.01, 0.01] }
-r_gripper_r_finger(r_gripper_r_finger_joint): { mass: 0.02, inertia: [0.01, 0.01, 0.01] }
-left_gripper(left_endpoint): { mass: 0.0001, inertia: [0, 0, 0] }
-l_gripper_l_finger(l_gripper_l_finger_joint): { mass: 0.02, inertia: [0.01, 0.01, 0.01] }
-l_gripper_r_finger(l_gripper_r_finger_joint): { mass: 0.02, inertia: [0.01, 0.01, 0.01] }
-r_gripper_l_finger_0(r_gripper_l_finger): { rel: [0, 0, 0, -1.03412e-13, 0, 0, -1], shape: mesh, color: [0.8, 0.8, 0.8], mesh: <rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.ply>, visual: True }
-r_gripper_l_finger_tip_joint_origin(r_gripper_l_finger): { rel: [0, 0.01725, 0.1127, 1, 0, 0, 0] }
-r_gripper_r_finger_0(r_gripper_r_finger): { shape: mesh, color: [0.8, 0.8, 0.8], mesh: <rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.ply>, visual: True }
-r_gripper_r_finger_tip_joint_origin(r_gripper_r_finger): { rel: [0, -0.01725, 0.1127, 1, 0, 0, 0] }
-l_gripper_l_finger_0(l_gripper_l_finger): { rel: [0, 0, 0, -1.03412e-13, 0, 0, -1], shape: mesh, color: [0.8, 0.8, 0.8], mesh: <rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.ply>, visual: True }
-l_gripper_l_finger_tip_joint_origin(l_gripper_l_finger): { rel: [0, 0.01725, 0.1127, 1, 0, 0, 0] }
-l_gripper_r_finger_0(l_gripper_r_finger): { shape: mesh, color: [0.8, 0.8, 0.8], mesh: <rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.ply>, visual: True }
-l_gripper_r_finger_tip_joint_origin(l_gripper_r_finger): { rel: [0, -0.01725, 0.1127, 1, 0, 0, 0] }
-r_gripper_l_finger_tip_joint(r_gripper_l_finger_tip_joint_origin): { joint: rigid }
-r_gripper_r_finger_tip_joint(r_gripper_r_finger_tip_joint_origin): { joint: rigid }
-l_gripper_l_finger_tip_joint(l_gripper_l_finger_tip_joint_origin): { joint: rigid }
-l_gripper_r_finger_tip_joint(l_gripper_r_finger_tip_joint_origin): { joint: rigid }
-r_gripper_l_finger_tip(r_gripper_l_finger_tip_joint): { mass: 0.01, inertia: [0.01, 0.01, 0.01] }
-r_gripper_r_finger_tip(r_gripper_r_finger_tip_joint): { mass: 0.01, inertia: [0.01, 0.01, 0.01] }
-l_gripper_l_finger_tip(l_gripper_l_finger_tip_joint): { mass: 0.01, inertia: [0.01, 0.01, 0.01] }
-l_gripper_r_finger_tip(l_gripper_r_finger_tip_joint): { mass: 0.01, inertia: [0.01, 0.01, 0.01] }
-r_gripper_l_finger_tip_0(r_gripper_l_finger_tip): { rel: [0, 0, 0, -1.03412e-13, 0, 0, 1], shape: mesh, color: [0.8, 0.8, 0.8], mesh: <rethink_ee_description/meshes/electric_gripper/fingers/half_round_tip.ply>, visual: True }
-r_gripper_r_finger_tip_0(r_gripper_r_finger_tip): { shape: mesh, color: [0.8, 0.8, 0.8], mesh: <rethink_ee_description/meshes/electric_gripper/fingers/half_round_tip.ply>, visual: True }
-l_gripper_l_finger_tip_0(l_gripper_l_finger_tip): { rel: [0, 0, 0, -1.03412e-13, 0, 0, 1], shape: mesh, color: [0.8, 0.8, 0.8], mesh: <rethink_ee_description/meshes/electric_gripper/fingers/paddle_tip.ply>, visual: True }
-l_gripper_r_finger_tip_0(l_gripper_r_finger_tip): { shape: mesh, color: [0.8, 0.8, 0.8], mesh: <rethink_ee_description/meshes/electric_gripper/fingers/paddle_tip.ply>, visual: True }