robotic 0.2.9.dev1__cp39-cp39-manylinux2014_x86_64.whl → 0.3.0__cp39-cp39-manylinux2014_x86_64.whl

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

@@ -1,19 +1,19 @@
 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] }
 
 #alternative collision shapes
 coll_base (base_footprint): { shape: ssBox, Q: [0, 0, 0.12], size: [0.7, 0.7, 0.36, 0.1], contact: -2, coll_pr2, color: [1.,1.,1.,.2] }
 coll_torso (base_footprint): { shape: ssBox, Q: [-0.13, 0, 0.6], size: [0.45, 0.7, 1.1, 0.1], contact: -2, coll_pr2, color: [1.,1.,1.,.2] }
-coll_arm_r (r_upper_arm_roll_joint): { shape: ssBox, Q: [0.221337, 0, 0], size: [0.55, 0.2, 0.2, 0.1], contact: -4, coll_pr2, color: [1.,1.,1.,.2] }
-coll_wrist_r (r_forearm_roll_joint): { shape: ssBox, Q: [0.21, 0, 0, 0.999391, 0, 0.0348995, 0], size: [0.35, 0.14, 0.14, 0.07], contact: -2, coll_pr2, color: [1.,1.,1.,.2] }
-coll_hand_r (r_wrist_roll_joint): { shape: ssBox, Q: [0.12, 0, 0], size: [0.16, 0.12, 0.06, 0.025], contact: -2, coll_pr2, color: [1.,1.,1.,.2] }
-coll_arm_l (l_upper_arm_roll_joint): { shape: ssBox, Q: [0.221337, 0, 0], size: [0.55, 0.2, 0.2, 0.1], contact: -4, coll_pr2, color: [1.,1.,1.,.2] }
-coll_wrist_l (l_forearm_roll_joint): { shape: ssBox, Q: [0.21, 0, 0, 0.999391, 0, 0.0348995, 0], size: [0.35, 0.14, 0.14, 0.07], contact: -2, coll_pr2, color: [1.,1.,1.,.2] }
-coll_hand_l (l_wrist_roll_joint): { shape: ssBox, Q: [0.12, 0, 0], size: [0.16, 0.12, 0.06, 0.025], contact: -2, coll_pr2, color: [1.,1.,1.,.2] }
+coll_arm_r (r_upper_arm_roll_joint): { shape: ssBox, Q: [0.221337, 0, 0], size: [0.55, 0.2, 0.2, 0.1], contact: -5, coll_pr2, color: [1.,1.,1.,.2] }
+coll_wrist_r (r_forearm_roll_joint): { shape: ssBox, Q: [0.21, 0, 0, 0.999391, 0, 0.0348995, 0], size: [0.35, 0.14, 0.14, 0.07], contact: -3, coll_pr2, color: [1.,1.,1.,.2] }
+coll_hand_r (r_wrist_roll_joint): { shape: ssBox, Q: [0.12, 0, 0], size: [0.16, 0.12, 0.06, 0.025], contact: -3, coll_pr2, color: [1.,1.,1.,.2] }
+coll_arm_l (l_upper_arm_roll_joint): { shape: ssBox, Q: [0.221337, 0, 0], size: [0.55, 0.2, 0.2, 0.1], contact: -5, coll_pr2, color: [1.,1.,1.,.2] }
+coll_wrist_l (l_forearm_roll_joint): { shape: ssBox, Q: [0.21, 0, 0, 0.999391, 0, 0.0348995, 0], size: [0.35, 0.14, 0.14, 0.07], contact: -3, coll_pr2, color: [1.,1.,1.,.2] }
+coll_hand_l (l_wrist_roll_joint): { shape: ssBox, Q: [0.12, 0, 0], size: [0.16, 0.12, 0.06, 0.025], contact: -3, coll_pr2, color: [1.,1.,1.,.2] }
 
 Edit fl_caster_rotation_joint: { joint: none }
 Edit fr_caster_rotation_joint: { joint: none }

robotic/rai-robotModels/pr2/pr2_clean.g

@@ -1,43 +1,47 @@
 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] }
+
+base_link(base_footprint): { pose: [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): { pose: [0, 0, 0.051, 1, 0, 0, 0], shape: mesh, mesh: <meshes/base.h5>, visual: True }
+base_laser_link(base_footprint): { pose: [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): { pose: [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): { pose: [0.2246, 0.2246, 0.0792, 1, 0, 0, 0] }
+fr_caster_rotation_joint_origin(base_footprint): { pose: [0.2246, -0.2246, 0.0792, 1, 0, 0, 0] }
+bl_caster_rotation_joint_origin(base_footprint): { pose: [-0.2246, 0.2246, 0.0792, 1, 0, 0, 0] }
+br_caster_rotation_joint_origin(base_footprint): { pose: [-0.2246, -0.2246, 0.0792, 1, 0, 0, 0] }
+
+torso_lift_joint_origin(base_footprint): { pose: [-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] }
 bl_caster_rotation_joint(bl_caster_rotation_joint_origin): { joint: hingeZ, limits: [0, 0, 0, 100, -1, 100], ctrl_limits: [100, -1, 100] }
 br_caster_rotation_joint(br_caster_rotation_joint_origin): { joint: hingeZ, limits: [0, 0, 0, 100, -1, 100], ctrl_limits: [100, -1, 100] }
 torso_lift_joint(torso_lift_joint_origin): { joint: transZ, limits: [0, 0.31, 0.013, -1, 10000], ctrl_limits: [0.013, -1, 10000] }
 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_rotation_link_0(fl_caster_rotation_joint): { shape: mesh, mesh: <pr2_description/meshes/base_v0/caster.ply>, visual: True }
-fl_caster_l_wheel_joint_origin(fl_caster_rotation_joint): { rel: [0, 0.049, 0, 1, 0, 0, 0] }
-fl_caster_r_wheel_joint_origin(fl_caster_rotation_joint): { rel: [0, -0.049, 0, 1, 0, 0, 0] }
+fl_caster_rotation_link_0(fl_caster_rotation_joint): { shape: mesh, mesh: <meshes/caster.h5>, visual: True }
+fl_caster_l_wheel_joint_origin(fl_caster_rotation_joint): { pose: [0, 0.049, 0, 1, 0, 0, 0] }
+fl_caster_r_wheel_joint_origin(fl_caster_rotation_joint): { pose: [0, -0.049, 0, 1, 0, 0, 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_rotation_link_0(fr_caster_rotation_joint): { shape: mesh, mesh: <pr2_description/meshes/base_v0/caster.ply>, visual: True }
-fr_caster_l_wheel_joint_origin(fr_caster_rotation_joint): { rel: [0, 0.049, 0, 1, 0, 0, 0] }
-fr_caster_r_wheel_joint_origin(fr_caster_rotation_joint): { rel: [0, -0.049, 0, 1, 0, 0, 0] }
+fr_caster_rotation_link_0(fr_caster_rotation_joint): { shape: mesh, mesh: <meshes/caster.h5>, visual: True }
+fr_caster_l_wheel_joint_origin(fr_caster_rotation_joint): { pose: [0, 0.049, 0, 1, 0, 0, 0] }
+fr_caster_r_wheel_joint_origin(fr_caster_rotation_joint): { pose: [0, -0.049, 0, 1, 0, 0, 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_rotation_link_0(bl_caster_rotation_joint): { shape: mesh, mesh: <pr2_description/meshes/base_v0/caster.ply>, visual: True }
-bl_caster_l_wheel_joint_origin(bl_caster_rotation_joint): { rel: [0, 0.049, 0, 1, 0, 0, 0] }
-bl_caster_r_wheel_joint_origin(bl_caster_rotation_joint): { rel: [0, -0.049, 0, 1, 0, 0, 0] }
+bl_caster_rotation_link_0(bl_caster_rotation_joint): { shape: mesh, mesh: <meshes/caster.h5>, visual: True }
+bl_caster_l_wheel_joint_origin(bl_caster_rotation_joint): { pose: [0, 0.049, 0, 1, 0, 0, 0] }
+bl_caster_r_wheel_joint_origin(bl_caster_rotation_joint): { pose: [0, -0.049, 0, 1, 0, 0, 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_rotation_link_0(br_caster_rotation_joint): { shape: mesh, mesh: <pr2_description/meshes/base_v0/caster.ply>, visual: True }
-br_caster_l_wheel_joint_origin(br_caster_rotation_joint): { rel: [0, 0.049, 0, 1, 0, 0, 0] }
-br_caster_r_wheel_joint_origin(br_caster_rotation_joint): { rel: [0, -0.049, 0, 1, 0, 0, 0] }
+br_caster_rotation_link_0(br_caster_rotation_joint): { shape: mesh, mesh: <meshes/caster.h5>, visual: True }
+br_caster_l_wheel_joint_origin(br_caster_rotation_joint): { pose: [0, 0.049, 0, 1, 0, 0, 0] }
+br_caster_r_wheel_joint_origin(br_caster_rotation_joint): { pose: [0, -0.049, 0, 1, 0, 0, 0] }
 torso_lift_link(torso_lift_joint): { mass: 36.248, inertia: [2.77165, 0.00428452, -0.160419, 2.51002, 0.0296645, 0.526432] }
-torso_lift_link_0(torso_lift_joint): { shape: mesh, mesh: <pr2_description/meshes/torso_v0/torso_lift.ply>, visual: True }
-imu_link(torso_lift_joint): { rel: [-0.02977, -0.1497, 0.164, -1.03412e-13, 0, 1, 0], mass: 0.001, inertia: [0.0001, 1e-06, 0.0001] }
-imu_link_0(torso_lift_joint): { rel: [-0.02977, -0.1497, 0.164, -1.03412e-13, 0, 1, 0], shape: box, size: [0.001, 0.001, 0.001, 0], visual: True }
-head_pan_joint_origin(torso_lift_joint): { rel: [-0.01707, 0, 0.38145, 1, 0, 0, 0] }
-laser_tilt_mount_joint_origin(torso_lift_joint): { rel: [0.09893, 0, 0.227, 1, 0, 0, 0] }
-r_shoulder_pan_joint_origin(torso_lift_joint): { rel: [0, -0.188, 0, 1, 0, 0, 0] }
-l_shoulder_pan_joint_origin(torso_lift_joint): { rel: [0, 0.188, 0, 1, 0, 0, 0] }
+torso_lift_link_0(torso_lift_joint): { shape: mesh, mesh: <meshes/torso_lift.h5>, visual: True }
+imu_link(torso_lift_joint): { pose: [-0.02977, -0.1497, 0.164, -1.03412e-13, 0, 1, 0], mass: 0.001, inertia: [0.0001, 1e-06, 0.0001] }
+imu_link_0(torso_lift_joint): { pose: [-0.02977, -0.1497, 0.164, -1.03412e-13, 0, 1, 0], shape: box, size: [0.001, 0.001, 0.001, 0], visual: True }
+head_pan_joint_origin(torso_lift_joint): { pose: [-0.01707, 0, 0.38145, 1, 0, 0, 0] }
+laser_tilt_mount_joint_origin(torso_lift_joint): { pose: [0.09893, 0, 0.227, 1, 0, 0, 0] }
+r_shoulder_pan_joint_origin(torso_lift_joint): { pose: [0, -0.188, 0, 1, 0, 0, 0] }
+l_shoulder_pan_joint_origin(torso_lift_joint): { pose: [0, 0.188, 0, 1, 0, 0, 0] }
 fl_caster_l_wheel_joint(fl_caster_l_wheel_joint_origin): { joint: hingeY, limits: [0, 0, 0, 100, -1, 100], ctrl_limits: [100, -1, 100] }
 fl_caster_r_wheel_joint(fl_caster_r_wheel_joint_origin): { joint: hingeY, limits: [0, 0, 0, 100, -1, 100], ctrl_limits: [100, -1, 100] }
 fr_caster_l_wheel_joint(fr_caster_l_wheel_joint_origin): { joint: hingeY, limits: [0, 0, 0, 100, -1, 100], ctrl_limits: [100, -1, 100] }
@@ -51,127 +55,127 @@ laser_tilt_mount_joint(laser_tilt_mount_joint_origin): { joint: hingeY, limits:
 r_shoulder_pan_joint(r_shoulder_pan_joint_origin): { joint: hingeZ, limits: [-2.2854, 0.714602, 2.088, -1, 30], ctrl_limits: [2.088, -1, 30] }
 l_shoulder_pan_joint(l_shoulder_pan_joint_origin): { joint: hingeZ, limits: [-0.714602, 2.2854, 2.088, -1, 30], ctrl_limits: [2.088, -1, 30] }
 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_l_wheel_link_0(fl_caster_l_wheel_joint): { shape: mesh, mesh: <pr2_description/meshes/base_v0/wheel.ply>, visual: True }
+fl_caster_l_wheel_link_0(fl_caster_l_wheel_joint): { shape: mesh, mesh: <meshes/wheel.h5>, visual: True }
 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] }
-fl_caster_r_wheel_link_0(fl_caster_r_wheel_joint): { shape: mesh, mesh: <pr2_description/meshes/base_v0/wheel.ply>, visual: True }
+fl_caster_r_wheel_link_0(fl_caster_r_wheel_joint): { shape: mesh, mesh: <meshes/wheel.h5>, visual: True }
 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_l_wheel_link_0(fr_caster_l_wheel_joint): { shape: mesh, mesh: <pr2_description/meshes/base_v0/wheel.ply>, visual: True }
+fr_caster_l_wheel_link_0(fr_caster_l_wheel_joint): { shape: mesh, mesh: <meshes/wheel.h5>, visual: True }
 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] }
-fr_caster_r_wheel_link_0(fr_caster_r_wheel_joint): { shape: mesh, mesh: <pr2_description/meshes/base_v0/wheel.ply>, visual: True }
+fr_caster_r_wheel_link_0(fr_caster_r_wheel_joint): { shape: mesh, mesh: <meshes/wheel.h5>, visual: True }
 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_l_wheel_link_0(bl_caster_l_wheel_joint): { shape: mesh, mesh: <pr2_description/meshes/base_v0/wheel.ply>, visual: True }
+bl_caster_l_wheel_link_0(bl_caster_l_wheel_joint): { shape: mesh, mesh: <meshes/wheel.h5>, visual: True }
 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] }
-bl_caster_r_wheel_link_0(bl_caster_r_wheel_joint): { shape: mesh, mesh: <pr2_description/meshes/base_v0/wheel.ply>, visual: True }
+bl_caster_r_wheel_link_0(bl_caster_r_wheel_joint): { shape: mesh, mesh: <meshes/wheel.h5>, visual: True }
 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_l_wheel_link_0(br_caster_l_wheel_joint): { shape: mesh, mesh: <pr2_description/meshes/base_v0/wheel.ply>, visual: True }
+br_caster_l_wheel_link_0(br_caster_l_wheel_joint): { shape: mesh, mesh: <meshes/wheel.h5>, visual: True }
 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] }
-br_caster_r_wheel_link_0(br_caster_r_wheel_joint): { shape: mesh, mesh: <pr2_description/meshes/base_v0/wheel.ply>, visual: True }
+br_caster_r_wheel_link_0(br_caster_r_wheel_joint): { shape: mesh, mesh: <meshes/wheel.h5>, visual: True }
 head_pan_link(head_pan_joint): { mass: 1.61112, inertia: [0.00482611, -0.000144684, 0.000110076, 0.00521899, -0.00031424, 0.00861878] }
-head_pan_link_0(head_pan_joint): { shape: mesh, mesh: <pr2_description/meshes/head_v0/head_pan.ply>, visual: True }
-head_tilt_joint_origin(head_pan_joint): { rel: [0.068, 0, 0, 1, 0, 0, 0] }
+head_pan_link_0(head_pan_joint): { shape: mesh, mesh: <meshes/head_pan.h5>, visual: True }
+head_tilt_joint_origin(head_pan_joint): { pose: [0.068, 0, 0, 1, 0, 0, 0] }
 laser_tilt_mount_link(laser_tilt_mount_joint): { mass: 0.05, inertia: [0.0001, 1e-05, 0.0001] }
-laser_tilt_mount_link_0(laser_tilt_mount_joint): { shape: mesh, mesh: <pr2_description/meshes/tilting_laser_v0/tilting_hokuyo.ply>, visual: True }
-laser_tilt_link(laser_tilt_mount_joint): { rel: [0, 0, 0.03, 1, 0, 0, 0], mass: 0.001, inertia: [0.0001, 1e-06, 0.0001] }
-laser_tilt_link_0(laser_tilt_mount_joint): { rel: [0, 0, 0.03, 1, 0, 0, 0], shape: box, size: [0.001, 0.001, 0.001, 0], visual: True }
+laser_tilt_mount_link_0(laser_tilt_mount_joint): { shape: mesh, mesh: <meshes/tilting_hokuyo.h5>, visual: True }
+laser_tilt_link(laser_tilt_mount_joint): { pose: [0, 0, 0.03, 1, 0, 0, 0], mass: 0.001, inertia: [0.0001, 1e-06, 0.0001] }
+laser_tilt_link_0(laser_tilt_mount_joint): { pose: [0, 0, 0.03, 1, 0, 0, 0], shape: box, size: [0.001, 0.001, 0.001, 0], visual: True }
 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_pan_link_0(r_shoulder_pan_joint): { shape: mesh, mesh: <pr2_description/meshes/shoulder_v0/shoulder_pan.ply>, visual: True }
-r_shoulder_lift_joint_origin(r_shoulder_pan_joint): { rel: [0.1, 0, 0, 1, 0, 0, 0] }
+r_shoulder_pan_link_0(r_shoulder_pan_joint): { shape: mesh, mesh: <meshes/shoulder_pan.h5>, visual: True }
+r_shoulder_lift_joint_origin(r_shoulder_pan_joint): { pose: [0.1, 0, 0, 1, 0, 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_pan_link_0(l_shoulder_pan_joint): { shape: mesh, mesh: <pr2_description/meshes/shoulder_v0/shoulder_pan.ply>, visual: True }
-l_shoulder_lift_joint_origin(l_shoulder_pan_joint): { rel: [0.1, 0, 0, 1, 0, 0, 0] }
+l_shoulder_pan_link_0(l_shoulder_pan_joint): { shape: mesh, mesh: <meshes/shoulder_pan.h5>, visual: True }
+l_shoulder_lift_joint_origin(l_shoulder_pan_joint): { pose: [0.1, 0, 0, 1, 0, 0, 0] }
 head_tilt_joint(head_tilt_joint_origin): { joint: hingeY, limits: [-0.471238, 1.39626, 5, -1, 15], ctrl_limits: [5, -1, 15] }
 r_shoulder_lift_joint(r_shoulder_lift_joint_origin): { joint: hingeY, limits: [-0.5236, 1.3963, 2.082, -1, 30], ctrl_limits: [2.082, -1, 30] }
 l_shoulder_lift_joint(l_shoulder_lift_joint_origin): { joint: hingeY, limits: [-0.5236, 1.3963, 2.082, -1, 30], ctrl_limits: [2.082, -1, 30] }
 head_tilt_link(head_tilt_joint): { mass: 1.74973, inertia: [0.0106023, -0.000408814, 0.00198304, 0.0118744, 0.000197909, 0.00551679] }
-head_tilt_link_0(head_tilt_joint): { shape: mesh, mesh: <pr2_description/meshes/head_v0/head_tilt.ply>, visual: True }
-head_plate_frame(head_tilt_joint): { rel: [0.0232, 0, 0.0645, 1, 0, 0, 0], mass: 0.01, inertia: [0.001, 0.001, 0.001] }
-head_plate_frame_0(head_tilt_joint): { rel: [0.0232, 0, 0.0645, 1, 0, 0, 0], shape: box, size: [0.01, 0.01, 0.01, 0], visual: True }
-sensor_mount_link(head_tilt_joint): { rel: [0.0232, 0, 0.0645, 1, 0, 0, 0], mass: 0.05, inertia: [0.001, 0.001, 0.01] }
-sensor_mount_link_0(head_tilt_joint): { rel: [0.0232, 0, 0.0645, 1, 0, 0, 0], shape: box, size: [0.01, 0.01, 0.01, 0], visual: True }
-high_def_frame(head_tilt_joint): { rel: [0.0232, -0.109, 0.0995, 1, 0, 0, 0], mass: 0.01, inertia: [0.001, 0.001, 0.001] }
-high_def_frame_0(head_tilt_joint): { rel: [0.0032, -0.109, 0.0995, 1, 0, 0, 0], shape: box, size: [0.04, 0.04, 0.04, 0], visual: True }
-high_def_optical_frame(head_tilt_joint): { rel: [0.0232, -0.109, 0.0995, 0.5, -0.5, 0.5, -0.5], mass: 0.01, inertia: [0.001, 0.001, 0.001] }
-high_def_optical_frame_0(head_tilt_joint): { rel: [0.0232, -0.109, 0.0995, 0.707107, -3.46245e-12, 0.707107, -5.55112e-17], shape: cylinder, size: [0, 0, 0.05, 0.02], visual: True }
-double_stereo_link(head_tilt_joint): { rel: [0.0232, 0, 0.0675, 1, 0, 0, 0], mass: 0.1, inertia: [0.001, 0.001, 0.01] }
-double_stereo_link_0(head_tilt_joint): { rel: [0.0132, 0, 0.0925, 1, 0, 0, 0], shape: box, size: [0.02, 0.12, 0.05, 0], visual: True }
-wide_stereo_link(head_tilt_joint): { rel: [0.0232, 0.03, 0.098, 1, 0, 0, 0], mass: 0.1, inertia: [0.01, 0.01, 0.01] }
-wide_stereo_link_0(head_tilt_joint): { rel: [0.0232, 0.03, 0.098, 1, 0, 0, 0], shape: box, size: [0.001, 0.001, 0.001, 0], visual: True }
-wide_stereo_gazebo_l_stereo_camera_frame(head_tilt_joint): { rel: [0.0232, 0.03, 0.098, 1, 0, 0, 0], mass: 0.01, inertia: [0.001, 0.001, 0.001] }
-wide_stereo_gazebo_l_stereo_camera_frame_0(head_tilt_joint): { rel: [0.0232, 0.03, 0.098, 1, 0, 0, 0], shape: box, size: [0.01, 0.01, 0.01, 0], visual: True }
-wide_stereo_gazebo_r_stereo_camera_frame(head_tilt_joint): { rel: [0.0232, -0.06, 0.098, 1, 0, 0, 0], mass: 0.01, inertia: [0.001, 0.001, 0.001] }
-wide_stereo_gazebo_r_stereo_camera_frame_0(head_tilt_joint): { rel: [0.0232, -0.06, 0.098, 1, 0, 0, 0], shape: box, size: [0.01, 0.01, 0.01, 0], visual: True }
-narrow_stereo_link(head_tilt_joint): { rel: [0.0232, 0.06, 0.098, 1, 0, 0, 0], mass: 0.1, inertia: [0.01, 0.01, 0.01] }
-narrow_stereo_link_0(head_tilt_joint): { rel: [0.0232, 0.06, 0.098, 1, 0, 0, 0], shape: box, size: [0.001, 0.001, 0.001, 0], visual: True }
-narrow_stereo_gazebo_l_stereo_camera_frame(head_tilt_joint): { rel: [0.0232, 0.06, 0.098, 1, 0, 0, 0], mass: 0.01, inertia: [0.001, 0.001, 0.001] }
-narrow_stereo_gazebo_l_stereo_camera_frame_0(head_tilt_joint): { rel: [0.0232, 0.06, 0.098, 1, 0, 0, 0], shape: box, size: [0.01, 0.01, 0.01, 0], visual: True }
-narrow_stereo_gazebo_r_stereo_camera_frame(head_tilt_joint): { rel: [0.0232, -0.03, 0.098, 1, 0, 0, 0], mass: 0.01, inertia: [0.001, 0.001, 0.001] }
-narrow_stereo_gazebo_r_stereo_camera_frame_0(head_tilt_joint): { rel: [0.0232, -0.03, 0.098, 1, 0, 0, 0], shape: box, size: [0.01, 0.01, 0.01, 0], visual: True }
+head_tilt_link_0(head_tilt_joint): { shape: mesh, mesh: <meshes/head_tilt.h5>, visual: True }
+head_plate_frame(head_tilt_joint): { pose: [0.0232, 0, 0.0645, 1, 0, 0, 0], mass: 0.01, inertia: [0.001, 0.001, 0.001] }
+head_plate_frame_0(head_tilt_joint): { pose: [0.0232, 0, 0.0645, 1, 0, 0, 0], shape: box, size: [0.01, 0.01, 0.01, 0], visual: True }
+sensor_mount_link(head_tilt_joint): { pose: [0.0232, 0, 0.0645, 1, 0, 0, 0], mass: 0.05, inertia: [0.001, 0.001, 0.01] }
+sensor_mount_link_0(head_tilt_joint): { pose: [0.0232, 0, 0.0645, 1, 0, 0, 0], shape: box, size: [0.01, 0.01, 0.01, 0], visual: True }
+high_def_frame(head_tilt_joint): { pose: [0.0232, -0.109, 0.0995, 1, 0, 0, 0], mass: 0.01, inertia: [0.001, 0.001, 0.001] }
+high_def_frame_0(head_tilt_joint): { pose: [0.0032, -0.109, 0.0995, 1, 0, 0, 0], shape: box, size: [0.04, 0.04, 0.04, 0], visual: True }
+high_def_optical_frame(head_tilt_joint): { pose: [0.0232, -0.109, 0.0995, 0.5, -0.5, 0.5, -0.5], mass: 0.01, inertia: [0.001, 0.001, 0.001] }
+high_def_optical_frame_0(head_tilt_joint): { pose: [0.0232, -0.109, 0.0995, 0.707107, -3.46245e-12, 0.707107, -5.55112e-17], shape: cylinder, size: [0, 0, 0.05, 0.02], visual: True }
+double_stereo_link(head_tilt_joint): { pose: [0.0232, 0, 0.0675, 1, 0, 0, 0], mass: 0.1, inertia: [0.001, 0.001, 0.01] }
+double_stereo_link_0(head_tilt_joint): { pose: [0.0132, 0, 0.0925, 1, 0, 0, 0], shape: box, size: [0.02, 0.12, 0.05, 0], visual: True }
+wide_stereo_link(head_tilt_joint): { pose: [0.0232, 0.03, 0.098, 1, 0, 0, 0], mass: 0.1, inertia: [0.01, 0.01, 0.01] }
+wide_stereo_link_0(head_tilt_joint): { pose: [0.0232, 0.03, 0.098, 1, 0, 0, 0], shape: box, size: [0.001, 0.001, 0.001, 0], visual: True }
+wide_stereo_gazebo_l_stereo_camera_frame(head_tilt_joint): { pose: [0.0232, 0.03, 0.098, 1, 0, 0, 0], mass: 0.01, inertia: [0.001, 0.001, 0.001] }
+wide_stereo_gazebo_l_stereo_camera_frame_0(head_tilt_joint): { pose: [0.0232, 0.03, 0.098, 1, 0, 0, 0], shape: box, size: [0.01, 0.01, 0.01, 0], visual: True }
+wide_stereo_gazebo_r_stereo_camera_frame(head_tilt_joint): { pose: [0.0232, -0.06, 0.098, 1, 0, 0, 0], mass: 0.01, inertia: [0.001, 0.001, 0.001] }
+wide_stereo_gazebo_r_stereo_camera_frame_0(head_tilt_joint): { pose: [0.0232, -0.06, 0.098, 1, 0, 0, 0], shape: box, size: [0.01, 0.01, 0.01, 0], visual: True }
+narrow_stereo_link(head_tilt_joint): { pose: [0.0232, 0.06, 0.098, 1, 0, 0, 0], mass: 0.1, inertia: [0.01, 0.01, 0.01] }
+narrow_stereo_link_0(head_tilt_joint): { pose: [0.0232, 0.06, 0.098, 1, 0, 0, 0], shape: box, size: [0.001, 0.001, 0.001, 0], visual: True }
+narrow_stereo_gazebo_l_stereo_camera_frame(head_tilt_joint): { pose: [0.0232, 0.06, 0.098, 1, 0, 0, 0], mass: 0.01, inertia: [0.001, 0.001, 0.001] }
+narrow_stereo_gazebo_l_stereo_camera_frame_0(head_tilt_joint): { pose: [0.0232, 0.06, 0.098, 1, 0, 0, 0], shape: box, size: [0.01, 0.01, 0.01, 0], visual: True }
+narrow_stereo_gazebo_r_stereo_camera_frame(head_tilt_joint): { pose: [0.0232, -0.03, 0.098, 1, 0, 0, 0], mass: 0.01, inertia: [0.001, 0.001, 0.001] }
+narrow_stereo_gazebo_r_stereo_camera_frame_0(head_tilt_joint): { pose: [0.0232, -0.03, 0.098, 1, 0, 0, 0], shape: box, size: [0.01, 0.01, 0.01, 0], visual: True }
 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_shoulder_lift_link_0(r_shoulder_lift_joint): { shape: mesh, mesh: <pr2_description/meshes/shoulder_v0/shoulder_lift.ply>, visual: True }
+r_shoulder_lift_link_0(r_shoulder_lift_joint): { shape: mesh, mesh: <meshes/shoulder_lift.h5>, visual: True }
 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_shoulder_lift_link_0(l_shoulder_lift_joint): { shape: mesh, mesh: <pr2_description/meshes/shoulder_v0/shoulder_lift.ply>, visual: True }
+l_shoulder_lift_link_0(l_shoulder_lift_joint): { shape: mesh, mesh: <meshes/shoulder_lift.h5>, visual: True }
 r_upper_arm_roll_joint(r_shoulder_lift_link): { joint: hingeX, limits: [-3.9, 0.8, 3.27, -1, 30], ctrl_limits: [3.27, -1, 30] }
 l_upper_arm_roll_joint(l_shoulder_lift_link): { joint: hingeX, limits: [-0.8, 3.9, 3.27, -1, 30], ctrl_limits: [3.27, -1, 30] }
 r_upper_arm_roll_link(r_upper_arm_roll_joint): { mass: 0.1, inertia: [0.01, 0.01, 0.01] }
-r_upper_arm_roll_link_0(r_upper_arm_roll_joint): { shape: mesh, mesh: <pr2_description/meshes/shoulder_v0/upper_arm_roll.ply>, visual: True }
+r_upper_arm_roll_link_0(r_upper_arm_roll_joint): { shape: mesh, mesh: <meshes/upper_arm_roll.h5>, visual: True }
 r_upper_arm_link(r_upper_arm_roll_joint): { mass: 6.01769, inertia: [0.0153775, 0.00375711, -0.000708529, 0.0747367, -0.000179365, 0.0760876] }
-r_upper_arm_link_0(r_upper_arm_roll_joint): { shape: mesh, mesh: <pr2_description/meshes/upper_arm_v0/upper_arm.ply>, visual: True }
-r_elbow_flex_joint_origin(r_upper_arm_roll_joint): { rel: [0.4, 0, 0, 1, 0, 0, 0] }
+r_upper_arm_link_0(r_upper_arm_roll_joint): { shape: mesh, mesh: <meshes/upper_arm.h5>, visual: True }
+r_elbow_flex_joint_origin(r_upper_arm_roll_joint): { pose: [0.4, 0, 0, 1, 0, 0, 0] }
 l_upper_arm_roll_link(l_upper_arm_roll_joint): { mass: 0.1, inertia: [0.01, 0.01, 0.01] }
-l_upper_arm_roll_link_0(l_upper_arm_roll_joint): { shape: mesh, mesh: <pr2_description/meshes/shoulder_v0/upper_arm_roll.ply>, visual: True }
+l_upper_arm_roll_link_0(l_upper_arm_roll_joint): { shape: mesh, mesh: <meshes/upper_arm_roll.h5>, visual: True }
 l_upper_arm_link(l_upper_arm_roll_joint): { mass: 6.01769, inertia: [0.015306, -0.00339325, 0.000607655, 0.0747369, -0.000199537, 0.0760159] }
-l_upper_arm_link_0(l_upper_arm_roll_joint): { shape: mesh, mesh: <pr2_description/meshes/upper_arm_v0/upper_arm.ply>, visual: True }
-l_elbow_flex_joint_origin(l_upper_arm_roll_joint): { rel: [0.4, 0, 0, 1, 0, 0, 0] }
+l_upper_arm_link_0(l_upper_arm_roll_joint): { shape: mesh, mesh: <meshes/upper_arm.h5>, visual: True }
+l_elbow_flex_joint_origin(l_upper_arm_roll_joint): { pose: [0.4, 0, 0, 1, 0, 0, 0] }
 r_elbow_flex_joint(r_elbow_flex_joint_origin): { joint: hingeY, limits: [-2.3213, 0, 3.3, -1, 30], ctrl_limits: [3.3, -1, 30] }
 l_elbow_flex_joint(l_elbow_flex_joint_origin): { joint: hingeY, limits: [-2.3213, 0, 3.3, -1, 30], ctrl_limits: [3.3, -1, 30] }
 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_elbow_flex_link_0(r_elbow_flex_joint): { shape: mesh, mesh: <pr2_description/meshes/upper_arm_v0/elbow_flex.ply>, visual: True }
+r_elbow_flex_link_0(r_elbow_flex_joint): { shape: mesh, mesh: <meshes/elbow_flex.h5>, visual: True }
 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_elbow_flex_link_0(l_elbow_flex_joint): { shape: mesh, mesh: <pr2_description/meshes/upper_arm_v0/elbow_flex.ply>, visual: True }
+l_elbow_flex_link_0(l_elbow_flex_joint): { shape: mesh, mesh: <meshes/elbow_flex.h5>, visual: True }
 r_forearm_roll_joint(r_elbow_flex_link): { joint: hingeX, limits: [0, 0, 0, 3.6, -1, 30], ctrl_limits: [3.6, -1, 30] }
 l_forearm_roll_joint(l_elbow_flex_link): { joint: hingeX, limits: [0, 0, 0, 3.6, -1, 30], ctrl_limits: [3.6, -1, 30] }
 r_forearm_roll_link(r_forearm_roll_joint): { mass: 0.1, inertia: [0.01, 0.01, 0.01] }
-r_forearm_roll_link_0(r_forearm_roll_joint): { shape: mesh, mesh: <pr2_description/meshes/upper_arm_v0/forearm_roll.ply>, visual: True }
+r_forearm_roll_link_0(r_forearm_roll_joint): { shape: mesh, mesh: <meshes/forearm_roll.h5>, visual: True }
 r_forearm_link(r_forearm_roll_joint): { mass: 2.57968, inertia: [0.00364857, 5.21588e-05, 0.000715348, 0.0150774, -1.31077e-05, 0.0165931] }
-r_forearm_link_0(r_forearm_roll_joint): { shape: mesh, mesh: <pr2_description/meshes/forearm_v0/forearm.ply>, visual: True }
-r_forearm_cam_frame(r_forearm_roll_joint): { rel: [0.135, 0, 0.044, 0.679288, 0.679288, -0.196387, 0.196387], mass: 0.01, inertia: [0.001, 0.001, 0.001] }
-r_forearm_cam_frame_0(r_forearm_roll_joint): { rel: [0.135, 0, 0.044, 0.679288, 0.679288, -0.196387, 0.196387], shape: box, size: [0.01, 0.01, 0.01, 0], visual: True }
-r_wrist_flex_joint_origin(r_forearm_roll_joint): { rel: [0.321, 0, 0, 1, 0, 0, 0] }
+r_forearm_link_0(r_forearm_roll_joint): { shape: mesh, mesh: <meshes/forearm.h5>, visual: True }
+r_forearm_cam_frame(r_forearm_roll_joint): { pose: [0.135, 0, 0.044, 0.679288, 0.679288, -0.196387, 0.196387], mass: 0.01, inertia: [0.001, 0.001, 0.001] }
+r_forearm_cam_frame_0(r_forearm_roll_joint): { pose: [0.135, 0, 0.044, 0.679288, 0.679288, -0.196387, 0.196387], shape: box, size: [0.01, 0.01, 0.01, 0], visual: True }
+r_wrist_flex_joint_origin(r_forearm_roll_joint): { pose: [0.321, 0, 0, 1, 0, 0, 0] }
 l_forearm_roll_link(l_forearm_roll_joint): { mass: 0.1, inertia: [0.01, 0.01, 0.01] }
-l_forearm_roll_link_0(l_forearm_roll_joint): { shape: mesh, mesh: <pr2_description/meshes/upper_arm_v0/forearm_roll.ply>, visual: True }
+l_forearm_roll_link_0(l_forearm_roll_joint): { shape: mesh, mesh: <meshes/forearm_roll.h5>, visual: True }
 l_forearm_link(l_forearm_roll_joint): { mass: 2.57968, inertia: [0.00364857, 5.21588e-05, 0.000715348, 0.0150774, -1.31077e-05, 0.0165931] }
-l_forearm_link_0(l_forearm_roll_joint): { shape: mesh, mesh: <pr2_description/meshes/forearm_v0/forearm.ply>, visual: True }
-l_forearm_cam_frame(l_forearm_roll_joint): { rel: [0.135, 0, 0.044, 0.679288, -0.679288, -0.196387, -0.196387], mass: 0.01, inertia: [0.001, 0.001, 0.001] }
-l_forearm_cam_frame_0(l_forearm_roll_joint): { rel: [0.135, 0, 0.044, 0.679288, -0.679288, -0.196387, -0.196387], shape: box, size: [0.01, 0.01, 0.01, 0], visual: True }
-l_wrist_flex_joint_origin(l_forearm_roll_joint): { rel: [0.321, 0, 0, 1, 0, 0, 0] }
+l_forearm_link_0(l_forearm_roll_joint): { shape: mesh, mesh: <meshes/forearm.h5>, visual: True }
+l_forearm_cam_frame(l_forearm_roll_joint): { pose: [0.135, 0, 0.044, 0.679288, -0.679288, -0.196387, -0.196387], mass: 0.01, inertia: [0.001, 0.001, 0.001] }
+l_forearm_cam_frame_0(l_forearm_roll_joint): { pose: [0.135, 0, 0.044, 0.679288, -0.679288, -0.196387, -0.196387], shape: box, size: [0.01, 0.01, 0.01, 0], visual: True }
+l_wrist_flex_joint_origin(l_forearm_roll_joint): { pose: [0.321, 0, 0, 1, 0, 0, 0] }
 r_wrist_flex_joint(r_wrist_flex_joint_origin): { joint: hingeY, limits: [-2.094, 0, 3.078, -1, 10], ctrl_limits: [3.078, -1, 10] }
 l_wrist_flex_joint(l_wrist_flex_joint_origin): { joint: hingeY, limits: [-2.094, 0, 3.078, -1, 10], ctrl_limits: [3.078, -1, 10] }
 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_flex_link_0(r_wrist_flex_joint): { shape: mesh, mesh: <pr2_description/meshes/forearm_v0/wrist_flex.ply>, visual: True }
+r_wrist_flex_link_0(r_wrist_flex_joint): { shape: mesh, mesh: <meshes/wrist_flex.h5>, visual: True }
 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_flex_link_0(l_wrist_flex_joint): { shape: mesh, mesh: <pr2_description/meshes/forearm_v0/wrist_flex.ply>, visual: True }
+l_wrist_flex_link_0(l_wrist_flex_joint): { shape: mesh, mesh: <meshes/wrist_flex.h5>, visual: True }
 r_wrist_roll_joint(r_wrist_flex_link): { joint: hingeX, limits: [0, 0, 0, 3.6, -1, 10], ctrl_limits: [3.6, -1, 10] }
 l_wrist_roll_joint(l_wrist_flex_link): { joint: hingeX, limits: [0, 0, 0, 3.6, -1, 10], ctrl_limits: [3.6, -1, 10] }
 r_wrist_roll_link(r_wrist_roll_joint): { mass: 0.1, inertia: [0.01, 0.01, 0.01] }
-r_wrist_roll_link_0(r_wrist_roll_joint): { shape: mesh, mesh: <pr2_description/meshes/forearm_v0/wrist_roll.ply>, visual: True }
+r_wrist_roll_link_0(r_wrist_roll_joint): { shape: mesh, mesh: <meshes/wrist_roll.h5>, visual: True }
 r_gripper_palm_link(r_wrist_roll_joint): { mass: 0.58007, inertia: [0.000352239, -1.58048e-05, -9.175e-07, 0.000677413, -5.9554e-07, 0.000865633] }
-r_gripper_palm_link_0(r_wrist_roll_joint): { shape: mesh, mesh: <pr2_description/meshes/gripper_v0/gripper_palm.ply>, visual: True }
+r_gripper_palm_link_0(r_wrist_roll_joint): { shape: mesh, mesh: <meshes/gripper_palm.h5>, visual: True }
 r_gripper_motor_accelerometer_link(r_wrist_roll_joint): { mass: 0.001, inertia: [0.001, 0.001, 0.001] }
 r_gripper_motor_accelerometer_link_0(r_wrist_roll_joint): { shape: box, size: [0.001, 0.001, 0.001, 0], visual: True }
-r_gripper_l_finger_joint_origin(r_wrist_roll_joint): { rel: [0.07691, 0.01, 0, 1, 0, 0, 0] }
-r_gripper_r_finger_joint_origin(r_wrist_roll_joint): { rel: [0.07691, -0.01, 0, 1, 0, 0, 0] }
-r_gripper_l_parallel_root_joint_origin(r_wrist_roll_joint): { rel: [0.05891, 0.031, 0, 1, 0, 0, 0] }
-r_gripper_r_parallel_root_joint_origin(r_wrist_roll_joint): { rel: [0.05891, -0.031, 0, 1, 0, 0, 0] }
+r_gripper_l_finger_joint_origin(r_wrist_roll_joint): { pose: [0.07691, 0.01, 0, 1, 0, 0, 0] }
+r_gripper_r_finger_joint_origin(r_wrist_roll_joint): { pose: [0.07691, -0.01, 0, 1, 0, 0, 0] }
+r_gripper_l_parallel_root_joint_origin(r_wrist_roll_joint): { pose: [0.05891, 0.031, 0, 1, 0, 0, 0] }
+r_gripper_r_parallel_root_joint_origin(r_wrist_roll_joint): { pose: [0.05891, -0.031, 0, 1, 0, 0, 0] }
 l_wrist_roll_link(l_wrist_roll_joint): { mass: 0.1, inertia: [0.01, 0.01, 0.01] }
-l_wrist_roll_link_0(l_wrist_roll_joint): { shape: mesh, mesh: <pr2_description/meshes/forearm_v0/wrist_roll.ply>, visual: True }
+l_wrist_roll_link_0(l_wrist_roll_joint): { shape: mesh, mesh: <meshes/wrist_roll.h5>, visual: True }
 l_gripper_palm_link(l_wrist_roll_joint): { mass: 0.58007, inertia: [0.000352239, -1.58048e-05, -9.175e-07, 0.000677413, -5.9554e-07, 0.000865633] }
-l_gripper_palm_link_0(l_wrist_roll_joint): { shape: mesh, mesh: <pr2_description/meshes/gripper_v0/gripper_palm.ply>, visual: True }
+l_gripper_palm_link_0(l_wrist_roll_joint): { shape: mesh, mesh: <meshes/gripper_palm.h5>, visual: True }
 l_gripper_motor_accelerometer_link(l_wrist_roll_joint): { mass: 0.001, inertia: [0.001, 0.001, 0.001] }
 l_gripper_motor_accelerometer_link_0(l_wrist_roll_joint): { shape: box, size: [0.001, 0.001, 0.001, 0], visual: True }
-l_gripper_l_finger_joint_origin(l_wrist_roll_joint): { rel: [0.07691, 0.01, 0, 1, 0, 0, 0] }
-l_gripper_r_finger_joint_origin(l_wrist_roll_joint): { rel: [0.07691, -0.01, 0, 1, 0, 0, 0] }
-l_gripper_l_parallel_root_joint_origin(l_wrist_roll_joint): { rel: [0.05891, 0.031, 0, 1, 0, 0, 0] }
-l_gripper_r_parallel_root_joint_origin(l_wrist_roll_joint): { rel: [0.05891, -0.031, 0, 1, 0, 0, 0] }
+l_gripper_l_finger_joint_origin(l_wrist_roll_joint): { pose: [0.07691, 0.01, 0, 1, 0, 0, 0] }
+l_gripper_r_finger_joint_origin(l_wrist_roll_joint): { pose: [0.07691, -0.01, 0, 1, 0, 0, 0] }
+l_gripper_l_parallel_root_joint_origin(l_wrist_roll_joint): { pose: [0.05891, 0.031, 0, 1, 0, 0, 0] }
+l_gripper_r_parallel_root_joint_origin(l_wrist_roll_joint): { pose: [0.05891, -0.031, 0, 1, 0, 0, 0] }
 r_gripper_l_finger_joint(r_gripper_l_finger_joint_origin): { joint: hingeZ, limits: [0, 0.548, 0.5, -1, 1000], ctrl_limits: [0.5, -1, 1000] }
 r_gripper_r_finger_joint(r_gripper_r_finger_joint_origin): { joint: hingeZ, joint_scale: -1, limits: [0, 0.548, 0.5, -1, 1000], mimic: "r_gripper_l_finger_joint", ctrl_limits: [0.5, -1, 1000] }
 r_gripper_l_parallel_root_joint(r_gripper_l_parallel_root_joint_origin): { joint: hingeZ, limits: [0, 0.548, 0.5, -1, 1000], mimic: "r_gripper_l_finger_joint", ctrl_limits: [0.5, -1, 1000] }
@@ -181,19 +185,19 @@ l_gripper_r_finger_joint(l_gripper_r_finger_joint_origin): { joint: hingeZ, join
 l_gripper_l_parallel_root_joint(l_gripper_l_parallel_root_joint_origin): { joint: hingeZ, limits: [0, 0.548, 0.5, -1, 1000], mimic: "l_gripper_l_finger_joint", ctrl_limits: [0.5, -1, 1000] }
 l_gripper_r_parallel_root_joint(l_gripper_r_parallel_root_joint_origin): { joint: hingeZ, joint_scale: -1, limits: [0, 0.548, 0.5, -1, 1000], mimic: "l_gripper_l_finger_joint", ctrl_limits: [0.5, -1, 1000] }
 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_link_0(r_gripper_l_finger_joint): { shape: mesh, mesh: <pr2_description/meshes/gripper_v0/l_finger.ply>, visual: True }
-r_gripper_l_finger_tip_joint_origin(r_gripper_l_finger_joint): { rel: [0.09137, 0.00495, 0, 1, 0, 0, 0] }
+r_gripper_l_finger_link_0(r_gripper_l_finger_joint): { shape: mesh, mesh: <meshes/l_finger.h5>, visual: True }
+r_gripper_l_finger_tip_joint_origin(r_gripper_l_finger_joint): { pose: [0.09137, 0.00495, 0, 1, 0, 0, 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): { rel: [0, 0, 0, -1.03412e-13, 1, 0, 0], shape: mesh, mesh: <pr2_description/meshes/gripper_v0/l_finger.ply>, visual: True }
-r_gripper_r_finger_tip_joint_origin(r_gripper_r_finger_joint): { rel: [0.09137, -0.00495, 0, 1, 0, 0, 0] }
+r_gripper_r_finger_link_0(r_gripper_r_finger_joint): { pose: [0, 0, 0, -1.03412e-13, 1, 0, 0], shape: mesh, mesh: <meshes/l_finger.h5>, visual: True }
+r_gripper_r_finger_tip_joint_origin(r_gripper_r_finger_joint): { pose: [0.09137, -0.00495, 0, 1, 0, 0, 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_link_0(l_gripper_l_finger_joint): { shape: mesh, mesh: <pr2_description/meshes/gripper_v0/l_finger.ply>, visual: True }
-l_gripper_l_finger_tip_joint_origin(l_gripper_l_finger_joint): { rel: [0.09137, 0.00495, 0, 1, 0, 0, 0] }
+l_gripper_l_finger_link_0(l_gripper_l_finger_joint): { shape: mesh, mesh: <meshes/l_finger.h5>, visual: True }
+l_gripper_l_finger_tip_joint_origin(l_gripper_l_finger_joint): { pose: [0.09137, 0.00495, 0, 1, 0, 0, 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): { rel: [0, 0, 0, -1.03412e-13, 1, 0, 0], shape: mesh, mesh: <pr2_description/meshes/gripper_v0/l_finger.ply>, visual: True }
-l_gripper_r_finger_tip_joint_origin(l_gripper_r_finger_joint): { rel: [0.09137, -0.00495, 0, 1, 0, 0, 0] }
+l_gripper_r_finger_link_0(l_gripper_r_finger_joint): { pose: [0, 0, 0, -1.03412e-13, 1, 0, 0], shape: mesh, mesh: <meshes/l_finger.h5>, visual: True }
+l_gripper_r_finger_tip_joint_origin(l_gripper_r_finger_joint): { pose: [0.09137, -0.00495, 0, 1, 0, 0, 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, 0.5, -1, 1000], mimic: "r_gripper_l_finger_joint", ctrl_limits: [0.5, -1, 1000] }
@@ -201,12 +205,12 @@ r_gripper_r_finger_tip_joint(r_gripper_r_finger_tip_joint_origin): { joint: hing
 l_gripper_l_finger_tip_joint(l_gripper_l_finger_tip_joint_origin): { joint: hingeZ, joint_scale: -1, limits: [0, 0.548, 0.5, -1, 1000], mimic: "l_gripper_l_finger_joint", ctrl_limits: [0.5, -1, 1000] }
 l_gripper_r_finger_tip_joint(l_gripper_r_finger_tip_joint_origin): { joint: hingeZ, limits: [0, 0.548, 0.5, -1, 1000], mimic: "l_gripper_l_finger_joint", ctrl_limits: [0.5, -1, 1000] }
 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_l_finger_tip_link_0(r_gripper_l_finger_tip_joint): { shape: mesh, mesh: <pr2_description/meshes/gripper_v0/l_finger_tip.ply>, visual: True }
+r_gripper_l_finger_tip_link_0(r_gripper_l_finger_tip_joint): { shape: mesh, mesh: <meshes/l_finger_tip.h5>, visual: True }
 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): { 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_r_finger_tip_link_0(r_gripper_r_finger_tip_joint): { pose: [0, 0, 0, -1.03412e-13, 1, 0, 0], shape: mesh, mesh: <meshes/l_finger_tip.h5>, visual: True }
 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_l_finger_tip_link_0(l_gripper_l_finger_tip_joint): { shape: mesh, mesh: <pr2_description/meshes/gripper_v0/l_finger_tip.ply>, visual: True }
+l_gripper_l_finger_tip_link_0(l_gripper_l_finger_tip_joint): { shape: mesh, mesh: <meshes/l_finger_tip.h5>, visual: True }
 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 }
+l_gripper_r_finger_tip_link_0(l_gripper_r_finger_tip_joint): { pose: [0, 0, 0, -1.03412e-13, 1, 0, 0], shape: mesh, mesh: <meshes/l_finger_tip.h5>, 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] }