robotic 0.2.9.dev2__cp312-cp312-manylinux2014_x86_64.whl → 0.3.1__cp312-cp312-manylinux2014_x86_64.whl

robotic/mujoco-import.py

@@ -1,10 +1,8 @@
-from config_mujoco import *
-import sysconfig
+import robotic as ry
+from robotic.src.mujoco_io import *
 
-pysite = sysconfig.get_paths()["purelib"]
-file = pysite+"/gymnasium_robotics/envs/assets/kitchen_franka/kitchen_assets/kitchen_env_model.xml"
-# file = '/home/mtoussai/git/MuJoCo2Rai/kitchen_dataset/RUSTIC_ONE_WALL_SMALL.xml'
+file = '../../rai-robotModels/kitchens/models/MEDITERRANEAN_ONE_WALL_SMALL.xml'
 
 print('=====================', file)
-C = Config_Mujoco(file, visualsOnly=True)
-C.view(True)
+M = MujocoLoader(file, visualsOnly=True)
+M.C.view(True)

robotic/rai-robotModels/g1/g1.g

@@ -1,5 +1,14 @@
 ## create standard base frame before including
 
-g1_base: { X:[0, 0, .79], multibody: true, multibody_fixedBase: false }
-Include: <g1_29dof_conv.g>
+g1_base: { X:[0, 0, .79], multibody: true, multibody_fixedBase: false, multibody_gravity: true }
+Include: <g1_29dof_conv.yml>
 Edit pelvis(g1_base): {}
+
+Edit left_hip_pitch_joint { q: -.25 }
+Edit right_hip_pitch_joint { q: -.25 }
+        
+Edit left_knee_joint { q: .5 }
+Edit right_knee_joint { q: .5 }
+
+Edit left_ankle_pitch_joint { q: -.25, motorLambda: .02, motorMass: 100 }
+Edit right_ankle_pitch_joint { q: -.25, motorLambda: .02, motorMass: 100 }

robotic/rai-robotModels/g1/g1_29dof_conv.yml

@@ -0,0 +1,64 @@
+pelvis: {shape: mesh, color: [0.2, 0.2, 0.2, 1.0], mesh: <meshes/pelvis.h5>, mass: 3.814, inertia: [0.010549099999999999, 0.0, 2.1e-06, 0.009309, 0.0, 0.0079185]}
+left_hip_pitch_joint_origin (pelvis): {pose: [0.0, 0.064452, -0.1027]}
+right_hip_pitch_joint_origin (pelvis): {pose: [0.0, -0.064452, -0.1027]}
+waist_yaw_joint (pelvis): {joint: hingeZ, limits: [-2.618, 2.618], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/waist_yaw_link.h5>, mass: 0.244, inertia: [9.9587e-05, -1.833e-06, -1.2617e-05, 0.00012411, -1.18e-07, 0.00015586]}
+pelvis_contour_link_0 (pelvis): {shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/pelvis_contour_link.h5>}
+left_hip_pitch_joint (left_hip_pitch_joint_origin): {joint: hingeY, limits: [-2.5307, 2.8798], shape: mesh, color: [0.2, 0.2, 0.2, 1.0], mesh: <meshes/left_hip_pitch_link.h5>, mass: 1.35, inertia: [0.001811, 3.68e-05, -3.44e-05, 0.0014193, 0.000171, 0.0012812]}
+right_hip_pitch_joint (right_hip_pitch_joint_origin): {joint: hingeY, limits: [-2.5307, 2.8798], shape: mesh, color: [0.2, 0.2, 0.2, 1.0], mesh: <meshes/right_hip_pitch_link.h5>, mass: 1.35, inertia: [0.001811, -3.68e-05, -3.44e-05, 0.0014193, -0.000171, 0.0012812]}
+waist_roll_joint_origin (waist_yaw_joint): {pose: [-0.0039635, 0.0, 0.035]}
+left_hip_roll_joint_origin (left_hip_pitch_joint): {pose: [0.0, 0.052, -0.030465, 0.9961786849744957, 0.0, -0.08733858026373247, 0.0]}
+right_hip_roll_joint_origin (right_hip_pitch_joint): {pose: [0.0, -0.052, -0.030465, 0.9961786849744957, 0.0, -0.08733858026373247, 0.0]}
+waist_roll_joint (waist_roll_joint_origin): {joint: hingeX, limits: [-0.52, 0.52], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/waist_roll_link.h5>, mass: 0.047, inertia: [7.515e-06, 0.0, 0.0, 6.398e-06, 9.9e-08, 3.988e-06]}
+left_hip_roll_joint (left_hip_roll_joint_origin): {joint: hingeX, limits: [-0.5236, 2.9671], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_hip_roll_link.h5>, mass: 1.52, inertia: [0.0023773, -3.8e-06, -0.0003908, 0.0024123, 1.84e-05, 0.0016595]}
+right_hip_roll_joint (right_hip_roll_joint_origin): {joint: hingeX, limits: [-2.9671, 0.5236], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_hip_roll_link.h5>, mass: 1.52, inertia: [0.0023773, 3.8e-06, -0.0003908, 0.0024123, -1.84e-05, 0.0016595]}
+waist_pitch_joint_origin (waist_roll_joint): {pose: [0.0, 0.0, 0.019]}
+left_hip_yaw_joint_origin (left_hip_roll_joint): {pose: [0.025001, 0.0, -0.12412]}
+right_hip_yaw_joint_origin (right_hip_roll_joint): {pose: [0.025001, 0.0, -0.12412]}
+waist_pitch_joint (waist_pitch_joint_origin): {joint: hingeY, limits: [-0.52, 0.52], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/torso_link.h5>, mass: 9.599999999999998, com: [0.00042855343750000007, 0.0, -0.005838750000000002], inertia: [0.072459751385, -8.851300000000001e-05, -0.0016085661752787497, 0.060434677554607075, 8.3173e-05, 0.032630779169607084]}
+left_hip_yaw_joint (left_hip_yaw_joint_origin): {joint: hingeZ, limits: [-2.7576, 2.7576], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_hip_yaw_link.h5>, mass: 1.702, inertia: [0.0057774, -0.0005411, -0.0023948, 0.0076124, -0.0007072, 0.003149]}
+right_hip_yaw_joint (right_hip_yaw_joint_origin): {joint: hingeZ, limits: [-2.7576, 2.7576], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_hip_yaw_link.h5>, mass: 1.702, inertia: [0.0057774, 0.0005411, -0.0023948, 0.0076124, 0.0007072, 0.003149]}
+left_shoulder_pitch_joint_origin (waist_pitch_joint): {pose: [0.0039563, 0.10022, 0.23778, 0.9902640751049538, 0.13920147853022313, 4.054181625451359e-05, -9.103785623530919e-05]}
+right_shoulder_pitch_joint_origin (waist_pitch_joint): {pose: [0.0039563, -0.10021, 0.23778, 0.9902640751049538, -0.13920147853022313, 4.054181625451359e-05, 9.103785623530919e-05]}
+logo_link_0 (waist_pitch_joint): {pose: [0.0039635, 0.0, -0.054], shape: mesh, color: [0.2, 0.2, 0.2, 1.0], mesh: <meshes/logo_link.h5>}
+head_link_0 (waist_pitch_joint): {pose: [0.0039635, 0.0, -0.054], shape: mesh, color: [0.2, 0.2, 0.2, 1.0], mesh: <meshes/head_link.h5>}
+waist_support_link_0 (waist_pitch_joint): {pose: [0.0039635, 0.0, -0.054], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/waist_support_link.h5>}
+left_knee_joint_origin (left_hip_yaw_joint): {pose: [-0.078273, 0.0021489, -0.17734, 0.9961786849744957, 0.0, 0.08733858026373247, 0.0]}
+right_knee_joint_origin (right_hip_yaw_joint): {pose: [-0.078273, -0.0021489, -0.17734, 0.9961786849744957, 0.0, 0.08733858026373247, 0.0]}
+left_shoulder_pitch_joint (left_shoulder_pitch_joint_origin): {joint: hingeY, limits: [-3.0892, 2.6704], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_shoulder_pitch_link.h5>, mass: 0.718, inertia: [0.0004291, -9.2e-06, 6.4e-06, 0.000453, 2.26e-05, 0.000423]}
+right_shoulder_pitch_joint (right_shoulder_pitch_joint_origin): {joint: hingeY, limits: [-3.0892, 2.6704], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_shoulder_pitch_link.h5>, mass: 0.718, inertia: [0.0004291, 9.2e-06, 6.4e-06, 0.000453, -2.26e-05, 0.000423]}
+left_knee_joint (left_knee_joint_origin): {joint: hingeY, limits: [-0.087267, 2.8798], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_knee_link.h5>, mass: 1.932, inertia: [0.011329, 4.82e-05, -4.49e-05, 0.011277, -0.0007146, 0.0015168]}
+right_knee_joint (right_knee_joint_origin): {joint: hingeY, limits: [-0.087267, 2.8798], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_knee_link.h5>, mass: 1.932, inertia: [0.011329, -4.82e-05, 4.49e-05, 0.011277, 0.0007146, 0.0015168]}
+left_shoulder_roll_joint_origin (left_shoulder_pitch_joint): {pose: [0.0, 0.038, -0.013831, 0.9902682552548409, -0.1391717738427347, 0.0, 0.0]}
+right_shoulder_roll_joint_origin (right_shoulder_pitch_joint): {pose: [0.0, -0.038, -0.013831, 0.9902682552548409, 0.1391717738427347, 0.0, 0.0]}
+left_ankle_pitch_joint_origin (left_knee_joint): {pose: [0.0, -9.4445e-05, -0.30001]}
+right_ankle_pitch_joint_origin (right_knee_joint): {pose: [0.0, 9.4445e-05, -0.30001]}
+left_shoulder_roll_joint (left_shoulder_roll_joint_origin): {joint: hingeX, limits: [-1.5882, 2.2515], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_shoulder_roll_link.h5>, mass: 0.643, inertia: [0.0006177, -1.0e-06, 8.7e-06, 0.0006912, -5.3e-06, 0.0003894]}
+right_shoulder_roll_joint (right_shoulder_roll_joint_origin): {joint: hingeX, limits: [-2.2515, 1.5882], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_shoulder_roll_link.h5>, mass: 0.643, inertia: [0.0006177, 1.0e-06, 8.7e-06, 0.0006912, 5.3e-06, 0.0003894]}
+left_ankle_pitch_joint (left_ankle_pitch_joint_origin): {joint: hingeY, limits: [-0.87267, 0.5236], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_ankle_pitch_link.h5>, mass: 0.074, inertia: [8.4e-06, 0.0, -2.9e-06, 1.89e-05, 0.0, 1.26e-05]}
+right_ankle_pitch_joint (right_ankle_pitch_joint_origin): {joint: hingeY, limits: [-0.87267, 0.5236], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_ankle_pitch_link.h5>, mass: 0.074, inertia: [8.4e-06, 0.0, -2.9e-06, 1.89e-05, 0.0, 1.26e-05]}
+left_shoulder_yaw_joint_origin (left_shoulder_roll_joint): {pose: [0.0, 0.00624, -0.1032]}
+right_shoulder_yaw_joint_origin (right_shoulder_roll_joint): {pose: [0.0, -0.00624, -0.1032]}
+left_ankle_roll_joint_origin (left_ankle_pitch_joint): {pose: [0.0, 0.0, -0.017558]}
+right_ankle_roll_joint_origin (right_ankle_pitch_joint): {pose: [0.0, 0.0, -0.017558]}
+left_shoulder_yaw_joint (left_shoulder_yaw_joint_origin): {joint: hingeZ, limits: [-2.618, 2.618], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_shoulder_yaw_link.h5>, mass: 0.734, inertia: [0.0009988, 7.9e-06, 0.0001412, 0.0010605, -2.86e-05, 0.0004354]}
+right_shoulder_yaw_joint (right_shoulder_yaw_joint_origin): {joint: hingeZ, limits: [-2.618, 2.618], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_shoulder_yaw_link.h5>, mass: 0.734, inertia: [0.0009988, -7.9e-06, 0.0001412, 0.0010605, 2.86e-05, 0.0004354]}
+left_ankle_roll_joint (left_ankle_roll_joint_origin): {joint: hingeX, limits: [-0.2618, 0.2618], shape: mesh, color: [0.2, 0.2, 0.2, 1.0], mesh: <meshes/left_ankle_roll_link.h5>, mass: 0.608, inertia: [0.0002231, 2.0e-07, 8.91e-05, 0.0016161, -1.0e-07, 0.0016667]}
+right_ankle_roll_joint (right_ankle_roll_joint_origin): {joint: hingeX, limits: [-0.2618, 0.2618], shape: mesh, color: [0.2, 0.2, 0.2, 1.0], mesh: <meshes/right_ankle_roll_link.h5>, mass: 0.608, inertia: [0.0002231, -2.0e-07, 8.91e-05, 0.0016161, 1.0e-07, 0.0016667]}
+left_elbow_joint_origin (left_shoulder_yaw_joint): {pose: [0.015783, 0.0, -0.080518]}
+right_elbow_joint_origin (right_shoulder_yaw_joint): {pose: [0.015783, 0.0, -0.080518]}
+left_elbow_joint (left_elbow_joint_origin): {joint: hingeY, limits: [-1.0472, 2.0944], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_elbow_link.h5>, mass: 0.6, inertia: [0.0002891, 6.53e-05, 1.72e-05, 0.0004152, -5.6e-06, 0.0004197]}
+right_elbow_joint (right_elbow_joint_origin): {joint: hingeY, limits: [-1.0472, 2.0944], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_elbow_link.h5>, mass: 0.6, inertia: [0.0002891, -6.53e-05, 1.72e-05, 0.0004152, 5.6e-06, 0.0004197]}
+left_wrist_roll_joint_origin (left_elbow_joint): {pose: [0.1, 0.00188791, -0.01]}
+right_wrist_roll_joint_origin (right_elbow_joint): {pose: [0.1, -0.00188791, -0.01]}
+left_wrist_roll_joint (left_wrist_roll_joint_origin): {joint: hingeX, limits: [-1.972222054, 1.972222054], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_wrist_roll_link.h5>, mass: 0.08544498, inertia: [4.821544023e-05, -4.24511021e-06, 5.10599e-09, 3.722899093e-05, -1.23525e-09, 5.482106541e-05]}
+right_wrist_roll_joint (right_wrist_roll_joint_origin): {joint: hingeX, limits: [-1.972222054, 1.972222054], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_wrist_roll_link.h5>, mass: 0.08544498, inertia: [4.821544023e-05, 4.24511021e-06, 5.10599e-09, 3.722899093e-05, 1.23525e-09, 5.482106541e-05]}
+left_wrist_pitch_joint_origin (left_wrist_roll_joint): {pose: [0.038, 0.0, 0.0]}
+right_wrist_pitch_joint_origin (right_wrist_roll_joint): {pose: [0.038, 0.0, 0.0]}
+left_wrist_pitch_joint (left_wrist_pitch_joint_origin): {joint: hingeY, limits: [-1.614429558, 1.614429558], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_wrist_pitch_link.h5>, mass: 0.48404956, inertia: [0.00016579646273, -1.231206746e-05, 1.231699194e-05, 0.0004295405741, 8.1417712e-07, 0.00042953697654]}
+right_wrist_pitch_joint (right_wrist_pitch_joint_origin): {joint: hingeY, limits: [-1.614429558, 1.614429558], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_wrist_pitch_link.h5>, mass: 0.48404956, inertia: [0.00016579646273, 1.231206746e-05, 1.231699194e-05, 0.0004295405741, -8.1417712e-07, 0.00042953697654]}
+left_wrist_yaw_joint_origin (left_wrist_pitch_joint): {pose: [0.046, 0.0, 0.0]}
+right_wrist_yaw_joint_origin (right_wrist_pitch_joint): {pose: [0.046, 0.0, 0.0]}
+left_wrist_yaw_joint (left_wrist_yaw_joint_origin): {joint: hingeZ, limits: [-1.614429558, 1.614429558], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_wrist_yaw_link.h5>, mass: 0.25457647, com: [0.027712694735691795, 0.0020033273302909765, -1.0899653184406096e-18], inertia: [0.00015079444368903163, 2.869702728036281e-05, 3.715660723580004e-06, 0.00043836153569590437, 3.73406941286e-06, 0.000356006284096386]}
+right_wrist_yaw_joint (right_wrist_yaw_joint_origin): {joint: hingeZ, limits: [-1.614429558, 1.614429558], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_wrist_yaw_link.h5>, mass: 0.25457647, com: [0.027712694735691795, -0.0020033273302909765, -1.0899653184406096e-18], inertia: [0.00015079444368903163, -2.869702728036281e-05, 3.715660723580004e-06, 0.00043836153569590437, -3.73406941286e-06, 0.000356006284096386]}
+left_rubber_hand_0 (left_wrist_yaw_joint): {pose: [0.0415, 0.003, 0.0], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/left_rubber_hand.h5>}
+right_rubber_hand_0 (right_wrist_yaw_joint): {pose: [0.0415, -0.003, 0.0], shape: mesh, color: [0.7, 0.7, 0.7, 1.0], mesh: <meshes/right_rubber_hand.h5>}

robotic/rai-robotModels/objects/shelf.g

@@ -10,6 +10,6 @@ shelf: { X: "t(1. 1. 0) d(120 0 0 1)" fixed }
 (shelf): { shape: ssBox, color: [0, .3, .7], Q: "T t(0 0 1.5)", size: [.6, 1., .1, .02], contact }
 (shelf): { shape: ssBox, color: [0, .3, .7], Q: "T t(0 0 1.95)", size: [.6, 1., .1, .02], contact }
 
-target(shelf): { shape: sphere, color: [1., 0., 0.], Q: "T t(0 0 1.25)", size: [0, 0, 0, .07] }
+target(shelf): { shape: sphere, color: [1., 0., 0.], Q: "T t(0 0 1.25)", size: [.07] }
 
 

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_arm_hand_conv.g>
+Include: <panda_arm_hand_conv.yml>
 Edit panda_link0(panda_base): {}
 
 ## simpler collision models

robotic/rai-robotModels/panda/panda_arm_hand_conv.g

@@ -1,24 +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_joint1_origin(panda_link0): { pose: [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> },
+panda_joint2_origin(panda_joint1): { pose: [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> },
+panda_joint3_origin(panda_joint2): { pose: [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> },
+panda_joint4_origin(panda_joint3): { pose: [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> },
+panda_joint5_origin(panda_joint4): { pose: [-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> },
+panda_joint6_origin(panda_joint5): { pose: [0.707107, 0.707107, 0, 0] },
+panda_joint6(panda_joint6_origin): { joint: hingeZ, limits: [-0.0175, 3.7525], shape: mesh, mesh: <meshes/link6.h5> },
+panda_joint7_origin(panda_joint6): { pose: [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> },
+panda_joint8_origin(panda_joint7): { pose: [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> }
+panda_hand_joint_origin(panda_joint8): { pose: [0.92388, 0, 0, -0.382683] },
+panda_hand_joint(panda_hand_joint_origin): { joint: rigid, shape: mesh, mesh: <meshes/hand.h5> },
+panda_finger_joint1_origin(panda_hand_joint): { pose: [0, 0, 0.0584] },
+panda_finger_joint2_origin(panda_hand_joint): { pose: [0, 0, 0.0584] },
+panda_finger_joint1(panda_finger_joint1_origin): { joint: transY, limits: [0, 0.04], shape: mesh, mesh: <meshes/finger.h5> },
+panda_finger_joint2(panda_finger_joint2_origin): { joint: transY, joint_scale: -1, limits: [0, 0.04], mimic: "panda_finger_joint1" },
+panda_rightfinger_0(panda_finger_joint2): { pose: [-1.03412e-13, 0, 0, 1], shape: mesh, mesh: <meshes/finger.h5> }

robotic/rai-robotModels/panda/panda_arm_hand_conv.yml

@@ -0,0 +1,24 @@
+panda_link0: {shape: mesh, mesh: <meshes/link0.h5>}
+panda_joint1_origin (panda_link0): {pose: [0.0, 0.0, 0.333]}
+panda_joint1 (panda_joint1_origin): {joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, color: [1.0, 1.0, 1.0, 1.0], mesh: <meshes/link1.h5>}
+panda_joint2_origin (panda_joint1): {pose: [0.7071067811882787, -0.7071067811848163, 0.0, 0.0]}
+panda_joint2 (panda_joint2_origin): {joint: hingeZ, limits: [-1.7628, 1.7628], shape: mesh, color: [1.0, 1.0, 1.0, 1.0], mesh: <meshes/link2.h5>}
+panda_joint3_origin (panda_joint2): {pose: [0.0, -0.316, 0.0, 0.7071067811882787, 0.7071067811848163, 0.0, 0.0]}
+panda_joint3 (panda_joint3_origin): {joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link3.h5>}
+panda_joint4_origin (panda_joint3): {pose: [0.0825, 0.0, 0.0, 0.7071067811882787, 0.7071067811848163, 0.0, 0.0]}
+panda_joint4 (panda_joint4_origin): {joint: hingeZ, limits: [-3.0718, -0.0698], shape: mesh, mesh: <meshes/link4.h5>}
+panda_joint5_origin (panda_joint4): {pose: [-0.0825, 0.384, 0.0, 0.7071067811882787, -0.7071067811848163, 0.0, 0.0]}
+panda_joint5 (panda_joint5_origin): {joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link5.h5>}
+panda_joint6_origin (panda_joint5): {pose: [0.7071067811882787, 0.7071067811848163, 0.0, 0.0]}
+panda_joint6 (panda_joint6_origin): {joint: hingeZ, limits: [-0.0175, 3.7525], shape: mesh, mesh: <meshes/link6.h5>}
+panda_joint7_origin (panda_joint6): {pose: [0.088, 0.0, 0.0, 0.7071067811882787, 0.7071067811848163, 0.0, 0.0]}
+panda_joint7 (panda_joint7_origin): {joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link7.h5>}
+panda_joint8_origin (panda_joint7): {pose: [0.0, 0.0, 0.107]}
+panda_joint8 (panda_joint8_origin): {joint: rigid}
+panda_hand_joint_origin (panda_joint8): {pose: [0.9238795325113726, 0.0, 0.0, -0.38268343236488267]}
+panda_hand_joint (panda_hand_joint_origin): {joint: rigid, shape: mesh, mesh: <meshes/hand.h5>}
+panda_finger_joint1_origin (panda_hand_joint): {pose: [0.0, 0.0, 0.0584]}
+panda_finger_joint2_origin (panda_hand_joint): {pose: [0.0, 0.0, 0.0584]}
+panda_finger_joint1 (panda_finger_joint1_origin): {joint: transY, limits: [0.0, 0.04], shape: mesh, mesh: <meshes/finger.h5>}
+panda_finger_joint2 (panda_finger_joint2_origin): {joint: transY, joint_scale: -1.0, limits: [0.0, 0.04], mimic: panda_finger_joint1}
+panda_rightfinger_0 (panda_finger_joint2): {pose: [-1.0341155355510722e-13, 0.0, 0.0, 1.0], shape: mesh, mesh: <meshes/finger.h5>}

robotic/rai-robotModels/pr2/pr2.g

@@ -8,12 +8,12 @@ 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

@@ -2,46 +2,46 @@ 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 }
+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): { 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] }
+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): { rel: [-0.05, 0, 0.790675, 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] }
@@ -55,127 +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] }
@@ -185,19 +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] }
@@ -205,12 +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] }