robotic 0.2.9__cp38-cp38-manylinux2014_x86_64.whl → 0.2.9.dev2__cp38-cp38-manylinux2014_x86_64.whl

robotic/rai-robotModels/pr2/pr2_conv.g

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

robotic/rai-robotModels/ranger/ranger.g

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

robotic/rai-robotModels/ranger/ranger_clean.g

@@ -1,5 +1,5 @@
 base_link: { mass: 0.162716, inertia: [0.0007237, -1.55745e-08, -3.42379e-12, 0.000744047, 2.24935e-07, 2.14413e-05] },
-base_link_0(base_link): { Q: [0, 0, 0, 0.000796327, 1, 0, 0], shape: mesh, color: [0.792157, 0.819608, 0.933333, 1], mesh: <meshes/ranger_mini3.ply>, visual: True },
+base_link_0(base_link): { Q: [0, 0, 0, 1, -1, 0, 0], shape: mesh, color: [0.792157, 0.819608, 0.933333, 1], mesh: <meshes/ranger_mini3.h5>, visual: True },
 fr_joint_origin(base_link): { Q: [0.25, -0.19, -0.1] },
 fl_joint_origin(base_link): { Q: [0.25, 0.19, -0.1, -3.67321e-06, 1, 0, 0] },
 br_joint_origin(base_link): { Q: [-0.25, -0.19, -0.1] },
@@ -12,7 +12,7 @@ fr_Link(fr_joint): { mass: 2.2786, inertia: [0.0063625, -1.0581e-07, -4.0831e-07
 fl_Link(fl_joint): { mass: 2.2786, inertia: [0.0063695, -2.1067e-08, -0.00016867, 0.006363, -1.0301e-08, 0.010458] },
 br_Link(br_joint): { mass: 2.2786, inertia: [0.0063627, -2.1069e-08, -1.587e-05, 0.006363, 9.3201e-09, 0.010465] },
 bl_Link(bl_joint): { mass: 2.2786, inertia: [0.0063656, -8.1498e-08, -0.00011049, 0.006363, 6.6847e-08, 0.010462] },
-fr_Link_0(fr_Link): { Q: [-0.248, -0.113, 0.155, 0.000563312, 0.000562864, 0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel_right.ply>, visual: True },
-fl_Link_0(fl_Link): { Q: [-0.248, 0.1265, 0.191, 0.000563312, -0.000562864, -0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel.ply>, visual: True },
-br_Link_0(br_Link): { Q: [-0.241, -0.11, 0.155, 0.000563312, 0.000562864, 0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel_right.ply>, visual: True },
-bl_Link_0(bl_Link): { Q: [-0.241, 0.13, 0.2, 0.000563312, -0.000562864, -0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel.ply>, visual: True }
+fr_Link_0(fr_Link): { Q: [-0.248, -0.113, 0.155, 0.000563312, 0.000562864, 0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel_right.h5>, visual: True },
+fl_Link_0(fl_Link): { Q: [-0.248, 0.1265, 0.191, 0.000563312, -0.000562864, -0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel.h5>, visual: True },
+br_Link_0(br_Link): { Q: [-0.241, -0.11, 0.155, 0.000563312, 0.000562864, 0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel_right.h5>, visual: True },
+bl_Link_0(bl_Link): { Q: [-0.241, 0.13, 0.2, 0.000563312, -0.000562864, -0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel.h5>, visual: True }

robotic/rai-robotModels/ranger/ranger_mini_conv.g

@@ -0,0 +1,14 @@
+base_link: { mass: 25.7056, com: [0.0326128, 0.0718265, -0.00166507], inertia: [0.711027, 0.000383359, 0.0416814, 1.36554, 0.00276036, 1.84066] },
+base_link_0(base_link): { Q: [0, 0, 0, 0.707388, -0.706825, 0, 0], shape: mesh, color: [0.792157, 0.819608, 0.933333, 1], mesh: <meshes/ranger_mini3.h5> },
+fr_joint_origin(base_link): { Q: [0.25, -0.19, -0.1] },
+fl_joint_origin(base_link): { Q: [0.25, 0.19, -0.1, -3.67321e-06, 1, 0, 0] },
+br_joint_origin(base_link): { Q: [-0.25, -0.19, -0.1] },
+bl_joint_origin(base_link): { Q: [-0.25, 0.19, -0.1, -3.67321e-06, 1, 0, 0] },
+fr_joint(fr_joint_origin): { joint: hingeZ, joint_scale: -1, mass: 1.34089, com: [-0.49413, -0.335584, 0.280301], inertia: [0.00931857, -3.63082e-06, -4.19248e-06, 0.0101184, 0.000264633, 0.00405613] },
+fl_joint(fl_joint_origin): { joint: hingeZ, joint_scale: -1, mass: 1.33115, com: [-0.493868, 0.257102, 0.304992], inertia: [0.00930652, 2.87129e-06, -2.07991e-05, 0.0101544, -0.000255253, 0.0040282] },
+br_joint(br_joint_origin): { joint: hingeZ, joint_scale: -1, mass: 1.34089, com: [-0.48713, -0.332584, 0.280301], inertia: [0.00931857, -3.63082e-06, -4.19248e-06, 0.0101184, 0.000264633, 0.00405613] },
+bl_joint(bl_joint_origin): { joint: hingeZ, joint_scale: -1, mass: 1.33115, com: [-0.486868, 0.260602, 0.313992], inertia: [0.00930652, 2.87129e-06, -2.07991e-05, 0.0101544, -0.000255253, 0.0040282] },
+fr_Link_0(fr_joint): { Q: [-0.248, -0.113, 0.155, 0.000563312, -0.000562864, 0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel_right.h5> },
+fl_Link_0(fl_joint): { Q: [-0.248, 0.1265, 0.191, 0.000563312, 0.000562864, -0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel.h5> },
+br_Link_0(br_joint): { Q: [-0.241, -0.11, 0.155, 0.000563312, -0.000562864, 0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel_right.h5> },
+bl_Link_0(bl_joint): { Q: [-0.241, 0.13, 0.2, 0.000563312, 0.000562864, -0.706825, 0.707388], shape: mesh, color: [0.79216, 0.81961, 0.93333, 1], mesh: <meshes/ranger_mini_v3_wheel.h5> }

robotic/rai-robotModels/robotiq/robotiq.g

@@ -1,11 +1,11 @@
 robotiq_base: { X: [0, 0, 1] }
 
-Include: <robotiq_clean.g>
+Include: <robotiq_arg2f_85_model_conv.g>
 Edit robotiq_arg2f_base_link (robotiq_base): {}
 
 # add F/T sensor
 
-ftsensor (robotiq_base): { Q: [0, 0, -.035], shape: mesh, color: [0.2, 0.2, 0.2], mesh: <meshes/visual/robotiq_ft300.ply> }
+ftsensor (robotiq_base): { Q: [0, 0, -.035], shape: mesh, color: [0.2, 0.2, 0.2], mesh: <meshes/robotiq_ft300.ply> }
  
 
 # define a gripper, palm and fingers

robotic/rai-robotModels/robotiq/robotiq_arg2f_85_model_conv.g

@@ -0,0 +1,21 @@
+robotiq_arg2f_base_link: { shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/robotiq_arg2f_85_base_link.h5>, mass: 0.16309, inertia: [0.00022626, 6.22636e-10, 6.5573e-11, 0.000188087, -3.11813e-07, 0.000141097] },
+finger_joint_origin(robotiq_arg2f_base_link): { Q: [0, -0.0306011, 0.054904, 6.12323e-17, 0, 0, 1] },
+left_inner_knuckle_joint_origin(robotiq_arg2f_base_link): { Q: [0, -0.0127, 0.06142, 6.12323e-17, 0, 0, 1] },
+right_outer_knuckle_joint_origin(robotiq_arg2f_base_link): { Q: [0, 0.0306011, 0.054904] },
+right_inner_knuckle_joint_origin(robotiq_arg2f_base_link): { Q: [0, 0.0127, 0.06142] },
+finger_joint(finger_joint_origin): { joint: hingeX, limits: [0, 0.8], shape: mesh, color: [0.792157, 0.819608, 0.933333, 1], mesh: <meshes/robotiq_arg2f_85_outer_knuckle.h5>, mass: 0.0141429, inertia: [3.26716e-06, -5.23289e-17, 8.54928e-17, 3.03476e-06, 1.77988e-07, 8.59178e-07] },
+left_inner_knuckle_joint(left_inner_knuckle_joint_origin): { joint: hingeX, limits: [0, 0.8757], mimic: finger_joint, shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/robotiq_arg2f_85_inner_knuckle.h5>, mass: 0.0293528, inertia: [1.18448e-05, -2.51482e-13, 9.42698e-14, 1.16071e-05, -5.32477e-06, 9.92039e-06] },
+right_outer_knuckle_joint(right_outer_knuckle_joint_origin): { joint: hingeX, limits: [0, 0.81], mimic: finger_joint, shape: mesh, color: [0.792157, 0.819608, 0.933333, 1], mesh: <meshes/robotiq_arg2f_85_outer_knuckle.h5>, mass: 0.0141429, inertia: [3.26716e-06, -5.23289e-17, 8.54928e-17, 3.03476e-06, 1.77988e-07, 8.59178e-07] },
+right_inner_knuckle_joint(right_inner_knuckle_joint_origin): { joint: hingeX, limits: [0, 0.8757], mimic: finger_joint, shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/robotiq_arg2f_85_inner_knuckle.h5>, mass: 0.0293528, inertia: [1.18448e-05, -2.51482e-13, 9.42698e-14, 1.16071e-05, -5.32477e-06, 9.92039e-06] },
+left_outer_finger_joint_origin(finger_joint): { Q: [0, 0.0315, -0.0041] },
+right_outer_finger_joint_origin(right_outer_knuckle_joint): { Q: [0, 0.0315, -0.0041] },
+left_outer_finger_joint(left_outer_finger_joint_origin): { joint: rigid, shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/robotiq_arg2f_85_outer_finger.h5>, mass: 0.0246725, inertia: [8.05877e-06, 5.27023e-16, -3.05353e-16, 9.48665e-06, -9.13935e-07, 2.56178e-06] },
+right_outer_finger_joint(right_outer_finger_joint_origin): { joint: rigid, shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/robotiq_arg2f_85_outer_finger.h5>, mass: 0.0246725, inertia: [8.05877e-06, 5.27023e-16, -3.05353e-16, 9.48665e-06, -9.13935e-07, 2.56178e-06] },
+left_inner_finger_joint_origin(left_outer_finger_joint): { Q: [0, 0.0061, 0.0471] },
+right_inner_finger_joint_origin(right_outer_finger_joint): { Q: [0, 0.0061, 0.0471] },
+left_inner_finger_joint(left_inner_finger_joint_origin): { joint: hingeX, limits: [0, 0.8757], mimic: finger_joint, shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/robotiq_arg2f_85_inner_finger.h5>, mass: 0.0205822, inertia: [5.68083e-06, -1.41221e-12, 4.89169e-12, 4.88007e-06, 1.15703e-06, 1.93071e-06] },
+right_inner_finger_joint(right_inner_finger_joint_origin): { joint: hingeX, limits: [0, 0.8757], mimic: finger_joint, shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/robotiq_arg2f_85_inner_finger.h5>, mass: 0.0205822, inertia: [5.68083e-06, -1.41221e-12, 4.89169e-12, 4.88007e-06, 1.15703e-06, 1.93071e-06] },
+left_inner_finger_pad_joint_origin(left_inner_finger_joint): { Q: [0, -0.0220203, 0.03242] },
+right_inner_finger_pad_joint_origin(right_inner_finger_joint): { Q: [0, -0.0220203, 0.03242] },
+left_inner_finger_pad_joint(left_inner_finger_pad_joint_origin): { joint: rigid, shape: box, size: [0.022, 0.00635, 0.0375], color: [0.9, 0.9, 0.9, 1], mass: 0.0120282, inertia: [1.73997e-05, 2.27364e-05, 6.30668e-06] },
+right_inner_finger_pad_joint(right_inner_finger_pad_joint_origin): { joint: rigid, shape: box, size: [0.022, 0.00635, 0.0375], color: [0.9, 0.9, 0.9, 1], mass: 0.0120282, inertia: [1.73997e-05, 2.27364e-05, 6.30668e-06] }

robotic/rai-robotModels/robotiq/robotiq_clean.g

@@ -1,24 +1,24 @@
 robotiq_arg2f_base_link: { mass: 0.22652, inertia: [0.00020005, -4.2442e-10, -2.9069e-10, 0.00017832, -3.4402e-08, 0.00013478] }
 robotiq_arg2f_base_link_0(robotiq_arg2f_base_link): { shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/visual/robotiq_arg2f_85_base_link.ply>, meshscale: 0.001, visual: True }
-finger_joint_origin(robotiq_arg2f_base_link): { rel: [0, -0.0306011, 0.054904, 6.12323e-17, 0, 0, 1] }
-left_inner_knuckle_joint_origin(robotiq_arg2f_base_link): { rel: [0, -0.0127, 0.06142, 6.12323e-17, 0, 0, 1] }
-right_outer_knuckle_joint_origin(robotiq_arg2f_base_link): { rel: [0, 0.0306011, 0.054904, 1, 0, 0, 0] }
-right_inner_knuckle_joint_origin(robotiq_arg2f_base_link): { rel: [0, 0.0127, 0.06142, 1, 0, 0, 0] }
-finger_joint(finger_joint_origin): { joint: hingeX, limits: [0, 0.8, 2, -1, 1000], ctrl_limits: [2, -1, 1000] }
-left_inner_knuckle_joint(left_inner_knuckle_joint_origin): { joint: hingeX, limits: [0, 0.8757, 2, -1, 1000], mimic: "finger_joint", ctrl_limits: [2, -1, 1000] }
-right_outer_knuckle_joint(right_outer_knuckle_joint_origin): { joint: hingeX, limits: [0, 0.81, 2, -1, 1000], mimic: "finger_joint", ctrl_limits: [2, -1, 1000] }
-right_inner_knuckle_joint(right_inner_knuckle_joint_origin): { joint: hingeX, limits: [0, 0.8757, 2, -1, 1000], mimic: "finger_joint", ctrl_limits: [2, -1, 1000] }
+robotiq_arg2f_base_link>finger_joint(robotiq_arg2f_base_link): { Q: [0, -0.0306011, 0.054904, 6.12323e-17, 0, 0, 1] }
+robotiq_arg2f_base_link>left_inner_knuckle_joint(robotiq_arg2f_base_link): { Q: [0, -0.0127, 0.06142, 6.12323e-17, 0, 0, 1] }
+robotiq_arg2f_base_link>right_outer_knuckle_joint(robotiq_arg2f_base_link): { Q: [0, 0.0306011, 0.054904, 1, 0, 0, 0] }
+robotiq_arg2f_base_link>right_inner_knuckle_joint(robotiq_arg2f_base_link): { Q: [0, 0.0127, 0.06142, 1, 0, 0, 0] }
+finger_joint(robotiq_arg2f_base_link>finger_joint): { joint: hingeX, limits: [0, 0.8, 2, -1, 1000], ctrl_limits: [2, -1, 1000] }
+left_inner_knuckle_joint(robotiq_arg2f_base_link>left_inner_knuckle_joint): { joint: hingeX, limits: [0, 0.8757, 2, -1, 1000], mimic: "finger_joint", ctrl_limits: [2, -1, 1000] }
+right_outer_knuckle_joint(robotiq_arg2f_base_link>right_outer_knuckle_joint): { joint: hingeX, limits: [0, 0.81, 2, -1, 1000], mimic: "finger_joint", ctrl_limits: [2, -1, 1000] }
+right_inner_knuckle_joint(robotiq_arg2f_base_link>right_inner_knuckle_joint): { joint: hingeX, limits: [0, 0.8757, 2, -1, 1000], mimic: "finger_joint", ctrl_limits: [2, -1, 1000] }
 left_outer_knuckle_0(finger_joint): { shape: mesh, color: [0.792157, 0.819608, 0.933333, 1], mesh: <meshes/visual/robotiq_arg2f_85_outer_knuckle.ply>, meshscale: 0.001, visual: True }
-left_outer_finger_0(finger_joint): { rel: [0, 0.0315, -0.0041, 1, 0, 0, 0], shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/visual/robotiq_arg2f_85_outer_finger.ply>, meshscale: 0.001, visual: True }
-left_inner_finger_joint_origin(finger_joint): { rel: [0, 0.0376, 0.043, 1, 0, 0, 0] }
+left_outer_finger_0(finger_joint): { Q: [0, 0.0315, -0.0041, 1, 0, 0, 0], shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/visual/robotiq_arg2f_85_outer_finger.ply>, meshscale: 0.001, visual: True }
+left_outer_finger>left_inner_finger_joint(finger_joint): { Q: [0, 0.0376, 0.043, 1, 0, 0, 0] }
 left_inner_knuckle_0(left_inner_knuckle_joint): { shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/visual/robotiq_arg2f_85_inner_knuckle.ply>, meshscale: 0.001, visual: True }
 right_outer_knuckle_0(right_outer_knuckle_joint): { shape: mesh, color: [0.792157, 0.819608, 0.933333, 1], mesh: <meshes/visual/robotiq_arg2f_85_outer_knuckle.ply>, meshscale: 0.001, visual: True }
-right_outer_finger_0(right_outer_knuckle_joint): { rel: [0, 0.0315, -0.0041, 1, 0, 0, 0], shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/visual/robotiq_arg2f_85_outer_finger.ply>, meshscale: 0.001, visual: True }
-right_inner_finger_joint_origin(right_outer_knuckle_joint): { rel: [0, 0.0376, 0.043, 1, 0, 0, 0] }
+right_outer_finger_0(right_outer_knuckle_joint): { Q: [0, 0.0315, -0.0041, 1, 0, 0, 0], shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/visual/robotiq_arg2f_85_outer_finger.ply>, meshscale: 0.001, visual: True }
+right_outer_finger>right_inner_finger_joint(right_outer_knuckle_joint): { Q: [0, 0.0376, 0.043, 1, 0, 0, 0] }
 right_inner_knuckle_0(right_inner_knuckle_joint): { shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/visual/robotiq_arg2f_85_inner_knuckle.ply>, meshscale: 0.001, visual: True }
-left_inner_finger_joint(left_inner_finger_joint_origin): { joint: hingeX, limits: [0, 0.8757, 2, -1, 1000], mimic: "finger_joint", ctrl_limits: [2, -1, 1000] }
-right_inner_finger_joint(right_inner_finger_joint_origin): { joint: hingeX, limits: [0, 0.8757, 2, -1, 1000], mimic: "finger_joint", ctrl_limits: [2, -1, 1000] }
+left_inner_finger_joint(left_outer_finger>left_inner_finger_joint): { joint: hingeX, limits: [0, 0.8757, 2, -1, 1000], mimic: "finger_joint", ctrl_limits: [2, -1, 1000] }
+right_inner_finger_joint(right_outer_finger>right_inner_finger_joint): { joint: hingeX, limits: [0, 0.8757, 2, -1, 1000], mimic: "finger_joint", ctrl_limits: [2, -1, 1000] }
 left_inner_finger_0(left_inner_finger_joint): { shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/visual/robotiq_arg2f_85_inner_finger.ply>, meshscale: 0.001, visual: True }
-left_inner_finger_pad_0(left_inner_finger_joint): { rel: [0, -0.0220203, 0.03242, 1, 0, 0, 0], shape: box, size: [0.022, 0.00635, 0.0375, 0], color: [0.9, 0.9, 0.9, 1], visual: True }
+left_inner_finger_pad_0(left_inner_finger_joint): { Q: [0, -0.0220203, 0.03242, 1, 0, 0, 0], shape: box, size: [0.022, 0.00635, 0.0375, 0], color: [0.9, 0.9, 0.9, 1], visual: True }
 right_inner_finger_0(right_inner_finger_joint): { shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <meshes/visual/robotiq_arg2f_85_inner_finger.ply>, meshscale: 0.001, visual: True }
-right_inner_finger_pad_0(right_inner_finger_joint): { rel: [0, -0.0220203, 0.03242, 1, 0, 0, 0], shape: box, size: [0.022, 0.00635, 0.0375, 0], color: [0.9, 0.9, 0.9, 1], visual: True }
+right_inner_finger_pad_0(right_inner_finger_joint): { Q: [0, -0.0220203, 0.03242, 1, 0, 0, 0], shape: box, size: [0.022, 0.00635, 0.0375, 0], color: [0.9, 0.9, 0.9, 1], visual: True }

robotic/rai-robotModels/scenarios/ballFinger.g

@@ -1,5 +1,5 @@
 base { X:[0 0 .5], multibody, multibody_gravity: false }
-jointX(base){ joint:transX, mass:.01, limits: [-1.,1.], motorLambda: .01, motorMass: .01, sampleUniform: 1. }
-jointY(jointX){ joint:transY, mass:.01, limits: [-1.,1.], motorLambda: .01, motorMass: .01, sampleUniform: 1. }
+jointX(base){ joint:transX, mass:.01, inertia:[.01,.01,.01], limits: [-1.,1.], motorLambda: .01, motorMass: .01, sampleUniform: 1. }
+jointY(jointX){ joint:transY, mass:.01, inertia:[.01,.01,.01], limits: [-1.,1.], motorLambda: .01, motorMass: .01, sampleUniform: 1. }
 jointZ(jointY){ joint:transZ, limits: [-1.,1.], motorLambda: .01, motorMass: .01, sampleUniform: 1. }
 finger(jointZ){ shape:sphere, size:[.02], color:[.5 1 1], contact:1, mass: .1 }

robotic/rai-robotModels/tests/compound.g

@@ -1,11 +1,8 @@
 
-world: {}
-
 table: { X: [0, 0, .1], shape: ssBox, size: [2, 2, .1, .02], color: [.3, .3, .3] }
 
 obj: { X: [0, 0, 2], shape: marker, size: [.3] }
-
-part1 (obj): { Q: "t(0 -.5 0) d(90 0 1 0)", shape: capsule, size: [.5, .05], color: [.9, .9, .9], mass: 1 }
-part2 (obj): { Q: "t(0 .5 0)", shape: capsule, size: [1., .05], color: [.9, .9, .9] }
-part3 (obj): { Q: "t(0 .25 0) d(90 1 0 0)", shape: capsule, size: [1.5, .05], color: [.9, .9, .9] }
+part1 (obj): { Q: "t(0 -.5 0) d(90 0 1 0)", shape: sphere, size: [.15], color: [.9, .9, .9], mass: 1 }
+part2 (obj): { Q: "t(0 .5 0)", shape: capsule, size: [1., .05], color: [.9, .9, .9], mass: 1 }
+part3 (obj): { Q: "t(0 .25 0) d(90 1 0 0)", shape: capsule, size: [1.5, .05], color: [.9, .9, .9], mass: 1 }
 part4 (obj): { Q: "t(.3 1. 0) d(90 1 0 0)", shape: ssBox, size: [.5, .5, .5, .05], color: [.9, .9, .9], mass: 1 }

robotic/rai-robotModels/ur10/ur10.g

@@ -1,5 +1,5 @@
 Prefix: "ur_"
-Include: <ur10_clean.g>
+Include: <ur10_conv.g>
 Prefix: false
 
 Edit ur_world_joint_origin: { rel: [0, 0, 0] }

robotic/rai-robotModels/ur10/ur10_conv.g

@@ -0,0 +1,17 @@
+world: {  },
+world_joint_origin(world): { Q: [0, 0, 1] },
+world_joint(world_joint_origin): { joint: rigid, shape: mesh, color: [0.371451, 0.371451, 0.371451, 1], mesh: <meshes/base.h5>, mass: 0.328598, inertia: [0.000876246, -3.50721e-07, -2.99737e-08, 0.000730367, 2.05527e-06, 0.00143972] },
+shoulder_pan_joint_origin(world_joint): { Q: [0, 0, 0.1273] },
+shoulder_pan_joint(shoulder_pan_joint_origin): { joint: hingeZ, limits: [-6.28319, 6.28319], shape: mesh, mesh: <meshes/shoulder.h5>, mass: 0.909582, inertia: [0.00565017, -6.93355e-06, -8.74462e-06, 0.00537262, -4.97716e-05, 0.00439801] },
+shoulder_lift_joint_origin(shoulder_pan_joint): { Q: [0, 0.220941, 0, 0.707107, 0, 0.707107, 0] },
+shoulder_lift_joint(shoulder_lift_joint_origin): { joint: hingeY, limits: [-6.28319, 6.28319], shape: mesh, mesh: <meshes/upperarm.h5>, mass: 2.43496, inertia: [0.159184, 1.47112e-05, -8.39265e-05, 0.157564, 0.000647215, 0.0100854] },
+elbow_joint_origin(shoulder_lift_joint): { Q: [0, -0.1719, 0.612] },
+elbow_joint(elbow_joint_origin): { joint: hingeY, limits: [-6.28319, 6.28319], shape: mesh, mesh: <meshes/forearm.h5>, mass: 1.75122, inertia: [0.0968559, -9.76006e-06, 1.57892e-05, 0.0958587, 0.000947383, 0.00463623] },
+wrist_1_joint_origin(elbow_joint): { Q: [0, 0, 0.5723, 0.707107, 0, 0.707107, 0] },
+wrist_1_joint(wrist_1_joint_origin): { joint: hingeY, limits: [-6.28319, 6.28319], shape: mesh, mesh: <meshes/wrist1.h5>, mass: 0.361159, inertia: [0.000895857, 1.09527e-06, 9.37493e-07, 0.000848918, -1.01451e-05, 0.000646337] },
+wrist_2_joint_origin(wrist_1_joint): { Q: [0, 0.1149, 0] },
+wrist_2_joint(wrist_2_joint_origin): { joint: hingeZ, limits: [-6.28319, 6.28319], shape: mesh, mesh: <meshes/wrist2.h5>, mass: 0.361992, inertia: [0.000898399, -5.86223e-07, -1.0802e-06, 0.000648368, -1.06317e-05, 0.000850769] },
+wrist_3_joint_origin(wrist_2_joint): { Q: [0, 0, 0.1157] },
+wrist_3_joint(wrist_3_joint_origin): { joint: hingeY, limits: [-6.28319, 6.28319], shape: mesh, color: [0.464314, 0.464314, 0.464314, 1], mesh: <meshes/wrist3.h5>, mass: 0.108345, inertia: [8.36376e-05, 4.10321e-09, 1.31385e-08, 0.000134503, -9.21218e-09, 8.00354e-05] },
+ee_fixed_joint_origin(wrist_3_joint): { Q: [0, 0.0922, 0, 0.707107, 0, 0, 0.707107] },
+ee_fixed_joint(ee_fixed_joint_origin): { joint: rigid }

robotic/ry-h5info

@@ -10,7 +10,11 @@ parser.add_argument('FILE', type=str,
 
 def print_attrs(name, obj):
     if isinstance(obj, h5py.Dataset):
-        print('   ', name, obj.name, obj.shape, obj.dtype)
+        print('   ', name, obj.name, obj.shape, obj.dtype, f'{obj.size*obj.dtype.itemsize/1024:.2f}kB')
+        if obj.dtype=='int8':
+            print(''.join([chr(x) for x in obj[()]]))
+        elif obj.size<20:
+            print(obj[()])
     else:
         print('---', name)
 

robotic/ry-test

@@ -16,7 +16,7 @@ q0 = C.getJointState()
 qT = q0
 qT[0] += 1.
 
-sim = ry.Simulation(C, ry.SimulationEngine.physx, verbose=1) #try verbose=2
+sim = ry.Simulation(C, ry.SimulationEngine.physx, verbose=2) #try verbose=3 or 1
 
 [X, q, V, qDot] = sim.getState()
 

robotic/ry-urdfConvert.py

@@ -0,0 +1,73 @@
+#!/usr/bin/env python3
+
+# from config_mujoco import *
+# from config_urdf import *
+# from mesh_helper import *
+from robotic.src.yaml_helper import *
+import robotic as ry
+import argparse
+import glob
+import os
+
+parser = argparse.ArgumentParser(
+    description='Utility to clean meshes in meshes/')
+
+parser.add_argument('file', type=str, help='urdf file', nargs='?', default='none')
+
+parser.add_argument('-view', help='view mesh', action="store_true", default=True)
+parser.add_argument('-flipDaeYZ', help='view mesh', action="store_true", default=False)
+parser.add_argument('-recomputeInertias', help='view mesh', action="store_true")
+parser.add_argument('-processMeshes', help='view mesh', action="store_true", default=True)
+parser.add_argument('-meshlab', help='apply meshlab filters', action="store_true", default=False)
+
+def main():
+    args = parser.parse_args()
+
+    if args.file=='none':
+        # args.file = '/home/mtoussai/git/rai-robotModels/pr2/pr2.urdf'
+        args.file = '/home/mtoussai/git/rai-robotModels/panda/panda_arm_hand.urdf'
+        # args.file = '/home/mtoussai/git/rai-robotModels/g1/g1_description/g1_29dof.urdf'
+        # args.file = '/home/mtoussai/git/rai-robotModels/ranger/ranger_mini.urdf'
+
+    print('=== URDF CONVERT ===', args.file)
+
+    path, file = os.path.split(args.file)
+    filebase, _ = os.path.splitext(file)
+
+    if args.flipDaeYZ:
+        ry.params_add({'assimp/daeFlipYZ': False})
+
+    C = ry.URDFLoader(args.file, visualsOnly=True, meshPathRemove='package://').C
+
+    C.processStructure(False, True, False, False)
+    C.processInertias(args.recomputeInertias)
+    C.processStructure(False, True, False, False)
+
+    os.system('rm -Rf meshes/')
+    C.writeMeshes('meshes/', copyTextures=True)
+
+    print('#frames: ', C.getFrameDimension())
+    with open(f'{filebase}_conv.g', 'w') as fil:
+        #yaml.dump(C.asDict(), file, default_flow_style=False)
+        fil.write(C.write())
+
+    yaml_write_dict(C.asDict(), f'{filebase}_conv.yml')
+
+    C.view(True)
+    # C.animate()
+
+    if args.processMeshes:
+        for file in sorted(glob.glob('meshes/*.h5')):
+
+            M = ry.MeshHelper(file)
+            if M.mesh is None:
+                continue
+
+            M.repair(mergeTolerance=1e-4)
+            print('  watertight:', M.mesh.is_watertight)
+            print('  oriented:', M.mesh.is_winding_consistent)
+            M.report()
+            M.export_h5()
+
+if __name__ == "__main__":
+    main()