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pzhu-flexivpzhu-flexiv
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Feature/update robot description (#49)
* Update Rizon4 urdf and meshes * Update rizon4s urdf and meshes * Update rizon10 urdf and meshes * Add rizon10s urdf and meshes
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lines changed

‎resources/flexiv_rizon10_kinematics.urdf‎

Lines changed: 82 additions & 35 deletions
Original file line numberDiff line numberDiff line change
@@ -64,17 +64,17 @@
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<origin rpy="0 0 0" xyz="0.0 -0.0 0.13" />
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<inertia ixx="0.08" ixy="0.0" ixz="-0.0" iyy="0.08" iyz="0.0" izz="0.04" />
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</inertial>
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<visual>
67+
<visual name="shell">
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="meshes/rizon10/visual/link0.obj" />
70+
<mesh filename="package://meshes/rizon10/visual/link0.obj" />
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</geometry>
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<material name="rizon_dark_grey" />
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</visual>
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<collision>
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<collision name="hull">
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="meshes/rizon10/collision/link0.stl" />
77+
<mesh filename="package://meshes/rizon10/collision/link0.stl" />
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</geometry>
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</collision>
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</link>
@@ -84,17 +84,24 @@
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<origin rpy="0 0 0" xyz="0.0 0.03 0.16" />
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<inertia ixx="0.18" ixy="0.0" ixz="0.0" iyy="0.17" iyz="0.02" izz="0.04" />
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</inertial>
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<visual>
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<visual name="shell">
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="meshes/rizon10/visual/link1.obj" />
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<mesh filename="package://meshes/rizon10/visual/link1.obj" />
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</geometry>
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<material name="rizon_dark_grey" />
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</visual>
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<collision>
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<visual name="ring">
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<origin rpy="0 0 0" xyz="0 0 -0.0025" />
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<geometry>
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<mesh filename="package://meshes/rizon10/visual/ring.obj" scale="0.079 0.079 0.002" />
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</geometry>
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<material name="rizon_white" />
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</visual>
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<collision name="hull">
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="meshes/rizon10/collision/link1.stl" />
104+
<mesh filename="package://meshes/rizon10/collision/link1.stl" />
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</geometry>
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</collision>
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</link>
@@ -104,17 +111,24 @@
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<origin rpy="0 0 0" xyz="0.0 0.03 0.11" />
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<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.08" iyz="0.02" izz="0.03" />
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</inertial>
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<visual>
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<visual name="shell">
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="meshes/rizon10/visual/link2.obj" />
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<mesh filename="package://meshes/rizon10/visual/link2.obj" />
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</geometry>
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<material name="rizon_dark_grey" />
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</visual>
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<collision>
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<visual name="ring">
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<origin rpy="1.5707963 0 0" xyz="0 -0.0025 0" />
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<geometry>
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<mesh filename="package://meshes/rizon10/visual/ring.obj" scale="0.079 0.079 0.002" />
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</geometry>
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<material name="rizon_white" />
127+
</visual>
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<collision name="hull">
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="meshes/rizon10/collision/link2.stl" />
131+
<mesh filename="package://meshes/rizon10/collision/link2.stl" />
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</geometry>
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</collision>
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</link>
@@ -124,17 +138,24 @@
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<origin rpy="0 0 0" xyz="0.0 -0.03 0.17" />
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<inertia ixx="0.04" ixy="-0.0" ixz="-0.0" iyy="0.03" iyz="-0.01" izz="0.01" />
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</inertial>
127-
<visual>
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<visual name="shell">
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="meshes/rizon10/visual/link3.obj" />
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<mesh filename="package://meshes/rizon10/visual/link3.obj" />
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</geometry>
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<material name="rizon_dark_grey" />
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</visual>
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<collision>
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<visual name="ring">
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<origin rpy="0 0 0" xyz="0 0 -0.0025" />
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<geometry>
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<mesh filename="package://meshes/rizon10/visual/ring.obj" scale="0.062 0.062 0.002" />
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</geometry>
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<material name="rizon_white" />
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</visual>
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<collision name="hull">
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="meshes/rizon10/collision/link3.stl" />
158+
<mesh filename="package://meshes/rizon10/collision/link3.stl" />
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</geometry>
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</collision>
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</link>
@@ -144,17 +165,24 @@
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<origin rpy="0 0 0" xyz="-0.0 0.05 0.1" />
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<inertia ixx="0.03" ixy="0.0" ixz="-0.0" iyy="0.03" iyz="0.0" izz="0.0" />
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</inertial>
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<visual>
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<visual name="shell">
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="meshes/rizon10/visual/link4.obj" />
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<mesh filename="package://meshes/rizon10/visual/link4.obj" />
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</geometry>
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<material name="rizon_dark_grey" />
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</visual>
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<collision>
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<visual name="ring">
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<origin rpy="1.5707963 0 0" xyz="0 -0.0025 0" />
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<geometry>
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<mesh filename="package://meshes/rizon10/visual/ring.obj" scale="0.062 0.062 0.002" />
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</geometry>
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<material name="rizon_white" />
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</visual>
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<collision name="hull">
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="meshes/rizon10/collision/link4.stl" />
185+
<mesh filename="package://meshes/rizon10/collision/link4.stl" />
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</geometry>
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</collision>
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</link>
@@ -164,17 +192,24 @@
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<origin rpy="0 0 0" xyz="0.0 0.01 0.13" />
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<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.0" />
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</inertial>
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<visual>
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<visual name="shell">
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="meshes/rizon10/visual/link5.obj" />
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<mesh filename="package://meshes/rizon10/visual/link5.obj" />
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</geometry>
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<material name="rizon_dark_grey" />
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</visual>
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<collision>
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<visual name="ring">
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<origin rpy="0 0 0" xyz="0 0 -0.0025" />
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<geometry>
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<mesh filename="package://meshes/rizon10/visual/ring.obj" scale="0.051 0.051 0.002" />
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</geometry>
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<material name="rizon_white" />
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</visual>
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<collision name="hull">
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="meshes/rizon10/collision/link5.stl" />
212+
<mesh filename="package://meshes/rizon10/collision/link5.stl" />
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</geometry>
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</collision>
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</link>
@@ -184,17 +219,24 @@
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<origin rpy="0 0 0" xyz="0.02 0.06 0.07" />
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<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.0" />
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</inertial>
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<visual>
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<visual name="shell">
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="meshes/rizon10/visual/link6.obj" />
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<mesh filename="package://meshes/rizon10/visual/link6.obj" />
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</geometry>
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<material name="rizon_dark_grey" />
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</visual>
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<collision>
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<visual name="ring">
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<origin rpy="1.5707963 0 0" xyz="0 -0.0025 0" />
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<geometry>
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<mesh filename="package://meshes/rizon10/visual/ring.obj" scale="0.051 0.051 0.002" />
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</geometry>
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<material name="rizon_white" />
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</visual>
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<collision name="hull">
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="meshes/rizon10/collision/link6.stl" />
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<mesh filename="package://meshes/rizon10/collision/link6.stl" />
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</geometry>
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</collision>
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</link>
@@ -204,24 +246,29 @@
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<origin rpy="0 0 0" xyz="0.0 -0.0 0.03" />
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<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
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</inertial>
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<visual>
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<visual name="shell">
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="meshes/rizon10/visual/link7.obj" />
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<mesh filename="package://meshes/rizon10/visual/link7.obj" />
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</geometry>
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<material name="rizon_dark_grey" />
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</visual>
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<collision>
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<visual name="ring">
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<origin rpy="0 0 0" xyz="0 0 -0.0025" />
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<geometry>
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<mesh filename="package://meshes/rizon10/visual/ring.obj" scale="0.051 0.051 0.002" />
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</geometry>
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<material name="rizon_white" />
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</visual>
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<collision name="hull">
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<origin rpy="0 0 0" xyz="0 0 0" />
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<geometry>
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<mesh filename="meshes/rizon10/collision/link7.stl" />
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<mesh filename="package://meshes/rizon10/collision/link7.stl" />
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</geometry>
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</collision>
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</link>
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<link name="flange" />
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<material name="rizon_blue">
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<color rgba="0.0 0.0 1.0 0.5" />
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</material>
271+
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<material name="rizon_light_grey">
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<color rgba="0.7 0.7 0.7 1.0" />
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</material>

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