robotic 0.2.9.dev2__cp39-cp39-manylinux2014_x86_64.whl → 0.3.0__cp39-cp39-manylinux2014_x86_64.whl

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/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] }

robotic/rai-robotModels/pr2/pr2_modifications.g

@@ -46,8 +46,8 @@ Edit l_gripper_r_finger_tip_joint: { gripL }
 Edit laser_tilt_mount_joint: { laser }
 
 ## FT sensors
-r_ft_sensor (r_wrist_roll_joint): { Q: "t(.01 0 0) d(-90 0 1 0) d(70.015 0 0 1)", shape: cylinder, color: [1, 0, 0], size: [.0, .0, .0356, .02] }
-l_ft_sensor (l_wrist_roll_joint): { Q: "t(.01 0 0) d(-90 0 1 0) d(70.015 0 0 1)", shape: cylinder, color: [1, 0, 0], size: [.0, .0, .0356, .02] }
+r_ft_sensor (r_wrist_roll_joint): { Q: "t(.01 0 0) d(-90 0 1 0) d(70.015 0 0 1)", shape: cylinder, color: [1, 0, 0], size: [.0356, .02] }
+l_ft_sensor (l_wrist_roll_joint): { Q: "t(.01 0 0) d(-90 0 1 0) d(70.015 0 0 1)", shape: cylinder, color: [1, 0, 0], size: [.0356, .02] }
 Edit r_wrist_roll_joint: { to: "t(.0356 0 0)" }
 Edit l_wrist_roll_joint: { to: "t(.0356 0 0)" }
 

robotic/rai-robotModels/ranger/ranger.g

@@ -4,9 +4,9 @@ ranger_base { multibody: true, multibody_gravity: false }
 
 ranger_transX(ranger_base) { joint: transX, limits: [-5 5], ctrl_H: 2., motorLambda:.02, motorMass:40 }
 ranger_transY(ranger_transX) { joint: transY, limits: [-5 5], ctrl_H: 2., motorLambda:.02, motorMass:40 }
-#ranger_rot(ranger_trans) { joint: hingeZ, limits: [-5 5] }
-#ranger_rot(ranger_trans) { joint: circleZ, limits: [-1.1 -1.1 1.1 1.1], ctrl_H: 2. }
-ranger_rot(ranger_transY) { }
+ranger_rot(ranger_transY) { joint: hingeZ, limits: [-5 5] }
+#ranger_rot(ranger_transY) { joint: circleZ, limits: [-1.1 -1.1 1.1 1.1], ctrl_H: 2. }
+#ranger_rot(ranger_transY) { }
 
 Prefix: ranger_
 Include: <ranger_mini_conv.g>

robotic/rai-robotModels/robotiq/robotiq.g

@@ -1,6 +1,6 @@
 robotiq_base: { X: [0, 0, 1] }
 
-Include: <robotiq_arg2f_85_model_conv.g>
+Include: <robotiq_arg2f_85_model_conv.yml>
 Edit robotiq_arg2f_base_link (robotiq_base): {}
 
 # add F/T sensor

robotic/rai-robotModels/scenarios/panda_fixRobotiq.g

@@ -13,13 +13,13 @@ Edit panda_joint7: { q: -.5 }
 
 Delete: panda_hand_joint_origin
 Delete: panda_hand_joint
-Delete: panda_hand
-Delete: panda_hand_0
+#Delete: panda_hand
+#Delete: panda_hand_0
 Delete: panda_finger_joint1_origin
 Delete: panda_finger_joint2_origin
 Delete: panda_finger_joint1
 Delete: panda_finger_joint2
-Delete: panda_leftfinger_0
+#Delete: panda_leftfinger_0
 Delete: panda_rightfinger_0
 #Delete: panda_coll_hand
 #Delete: panda_coll_finger1

robotic/rai-robotModels/tests/arm.g

@@ -1,13 +1,13 @@
 
-stem: { X: "t(0 0 1)", shape: capsule, size: [0.1, 0.1, 2, .1] }
+stem: { X: "t(0 0 1)", shape: capsule, size: [2, .1] }
 
-arm1: { shape: capsule, size: [0.1, 0.1, .4, .1], contact: -1, }
-arm2: { shape: capsule, size: [0.1, 0.1, .4, .1], contact: -1, }
-arm3: { shape: capsule, size: [0.1, 0.1, .4, .1], contact: -1, }
-arm4: { shape: capsule, size: [0.1, 0.1, .4, .1], contact: -1, }
-arm5: { shape: capsule, size: [0.1, 0.1, .4, .1], contact: -1, }
-arm6: { shape: capsule, size: [0.1, 0.1, .4, .1], contact: -1, }
-arm7: { shape: capsule, size: [0.1, 0.1, .4, .1], contact: -1, }
+arm1: { shape: capsule, size: [.4, .1], contact: -1, }
+arm2: { shape: capsule, size: [.4, .1], contact: -1, }
+arm3: { shape: capsule, size: [.4, .1], contact: -1, }
+arm4: { shape: capsule, size: [.4, .1], contact: -1, }
+arm5: { shape: capsule, size: [.4, .1], contact: -1, }
+arm6: { shape: capsule, size: [.4, .1], contact: -1, }
+arm7: { shape: capsule, size: [.4, .1], contact: -1, }
 
 (stem arm1): { joint: hingeX, limits:[-2,2], pre: "t(0 0 1) d(90 1 0 0)", post: "t(0 0 .2)", Q: "T d(1 0 0 0)" }
 
@@ -18,8 +18,8 @@ arm7: { shape: capsule, size: [0.1, 0.1, .4, .1], contact: -1, }
 (arm5 arm6): { joint: hingeX, limits:[-2,2], pre: "t(0 0 0.2) d(45 0 0 1)", post: "t(0 0 .2)", Q: "T d(1 0 0 0)" }
 (arm6 arm7): { joint: hingeX, limits:[-2,2], pre: "t(0 0 0.2) d(45 0 0 1)", post: "t(0 0 .2)", Q: "T d(1 0 0 0)" }
 
-target: { X: "t(.7 -.5 1.2)", shape: sphere, size: [.1, .1, .1, .05], color: [0, .5, 0] }
+target: { X: "t(.7 -.5 1.2)", shape: sphere, size: [.05], color: [0, .5, 0] }
 
-obstacle: { X: "t(1. -1.5 1.)", shape: sphere, size: [1., .1, 5., .5], color: [1, 0, 0], contact, }
+obstacle: { X: "t(1. -1.5 1.)", shape: sphere, size: [.5], color: [1, 0, 0], contact, }
 
-endeff(arm7): { shape: marker, Q: "T t(0 0 .3)", size: [.1, .1, .1, 0] } # a marker shape at the tip of arm7
+endeff(arm7): { shape: marker, Q: "T t(0 0 .3)", size: [.1] } # a marker shape at the tip of arm7

robotic/rai-robotModels/ur10/ur10.g

@@ -2,7 +2,7 @@ Prefix: "ur_"
 Include: <ur10_conv.g>
 Prefix: false
 
-Edit ur_world_joint_origin: { rel: [0, 0, 0] }
+Edit ur_world_joint_origin: { pose: [0, 0, 0] }
 
 Edit ur_shoulder_pan_joint: { q: 0.0 }
 Edit ur_shoulder_lift_joint: { q: -2.0 }