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Feature/update robot description (#49)
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* Update Rizon4 urdf and meshes
* Update rizon4s urdf and meshes
* Update rizon10 urdf and meshes
* Add rizon10s urdf and meshes
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@pzhu-flexiv
pzhu-flexiv authored Apr 1, 2024
1 parent 319f200 commit 90dfff1
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Showing 62 changed files with 194,469 additions and 75,835 deletions.
117 changes: 82 additions & 35 deletions resources/flexiv_rizon10_kinematics.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -64,17 +64,17 @@
<origin rpy="0 0 0" xyz="0.0 -0.0 0.13" />
<inertia ixx="0.08" ixy="0.0" ixz="-0.0" iyy="0.08" iyz="0.0" izz="0.04" />
</inertial>
<visual>
<visual name="shell">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/rizon10/visual/link0.obj" />
<mesh filename="package://meshes/rizon10/visual/link0.obj" />
</geometry>
<material name="rizon_dark_grey" />
</visual>
<collision>
<collision name="hull">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/rizon10/collision/link0.stl" />
<mesh filename="package://meshes/rizon10/collision/link0.stl" />
</geometry>
</collision>
</link>
Expand All @@ -84,17 +84,24 @@
<origin rpy="0 0 0" xyz="0.0 0.03 0.16" />
<inertia ixx="0.18" ixy="0.0" ixz="0.0" iyy="0.17" iyz="0.02" izz="0.04" />
</inertial>
<visual>
<visual name="shell">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/rizon10/visual/link1.obj" />
<mesh filename="package://meshes/rizon10/visual/link1.obj" />
</geometry>
<material name="rizon_dark_grey" />
</visual>
<collision>
<visual name="ring">
<origin rpy="0 0 0" xyz="0 0 -0.0025" />
<geometry>
<mesh filename="package://meshes/rizon10/visual/ring.obj" scale="0.079 0.079 0.002" />
</geometry>
<material name="rizon_white" />
</visual>
<collision name="hull">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/rizon10/collision/link1.stl" />
<mesh filename="package://meshes/rizon10/collision/link1.stl" />
</geometry>
</collision>
</link>
Expand All @@ -104,17 +111,24 @@
<origin rpy="0 0 0" xyz="0.0 0.03 0.11" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.08" iyz="0.02" izz="0.03" />
</inertial>
<visual>
<visual name="shell">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/rizon10/visual/link2.obj" />
<mesh filename="package://meshes/rizon10/visual/link2.obj" />
</geometry>
<material name="rizon_dark_grey" />
</visual>
<collision>
<visual name="ring">
<origin rpy="1.5707963 0 0" xyz="0 -0.0025 0" />
<geometry>
<mesh filename="package://meshes/rizon10/visual/ring.obj" scale="0.079 0.079 0.002" />
</geometry>
<material name="rizon_white" />
</visual>
<collision name="hull">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/rizon10/collision/link2.stl" />
<mesh filename="package://meshes/rizon10/collision/link2.stl" />
</geometry>
</collision>
</link>
Expand All @@ -124,17 +138,24 @@
<origin rpy="0 0 0" xyz="0.0 -0.03 0.17" />
<inertia ixx="0.04" ixy="-0.0" ixz="-0.0" iyy="0.03" iyz="-0.01" izz="0.01" />
</inertial>
<visual>
<visual name="shell">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/rizon10/visual/link3.obj" />
<mesh filename="package://meshes/rizon10/visual/link3.obj" />
</geometry>
<material name="rizon_dark_grey" />
</visual>
<collision>
<visual name="ring">
<origin rpy="0 0 0" xyz="0 0 -0.0025" />
<geometry>
<mesh filename="package://meshes/rizon10/visual/ring.obj" scale="0.062 0.062 0.002" />
</geometry>
<material name="rizon_white" />
</visual>
<collision name="hull">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/rizon10/collision/link3.stl" />
<mesh filename="package://meshes/rizon10/collision/link3.stl" />
</geometry>
</collision>
</link>
Expand All @@ -144,17 +165,24 @@
<origin rpy="0 0 0" xyz="-0.0 0.05 0.1" />
<inertia ixx="0.03" ixy="0.0" ixz="-0.0" iyy="0.03" iyz="0.0" izz="0.0" />
</inertial>
<visual>
<visual name="shell">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/rizon10/visual/link4.obj" />
<mesh filename="package://meshes/rizon10/visual/link4.obj" />
</geometry>
<material name="rizon_dark_grey" />
</visual>
<collision>
<visual name="ring">
<origin rpy="1.5707963 0 0" xyz="0 -0.0025 0" />
<geometry>
<mesh filename="package://meshes/rizon10/visual/ring.obj" scale="0.062 0.062 0.002" />
</geometry>
<material name="rizon_white" />
</visual>
<collision name="hull">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/rizon10/collision/link4.stl" />
<mesh filename="package://meshes/rizon10/collision/link4.stl" />
</geometry>
</collision>
</link>
Expand All @@ -164,17 +192,24 @@
<origin rpy="0 0 0" xyz="0.0 0.01 0.13" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.0" />
</inertial>
<visual>
<visual name="shell">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/rizon10/visual/link5.obj" />
<mesh filename="package://meshes/rizon10/visual/link5.obj" />
</geometry>
<material name="rizon_dark_grey" />
</visual>
<collision>
<visual name="ring">
<origin rpy="0 0 0" xyz="0 0 -0.0025" />
<geometry>
<mesh filename="package://meshes/rizon10/visual/ring.obj" scale="0.051 0.051 0.002" />
</geometry>
<material name="rizon_white" />
</visual>
<collision name="hull">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/rizon10/collision/link5.stl" />
<mesh filename="package://meshes/rizon10/collision/link5.stl" />
</geometry>
</collision>
</link>
Expand All @@ -184,17 +219,24 @@
<origin rpy="0 0 0" xyz="0.02 0.06 0.07" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.0" />
</inertial>
<visual>
<visual name="shell">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/rizon10/visual/link6.obj" />
<mesh filename="package://meshes/rizon10/visual/link6.obj" />
</geometry>
<material name="rizon_dark_grey" />
</visual>
<collision>
<visual name="ring">
<origin rpy="1.5707963 0 0" xyz="0 -0.0025 0" />
<geometry>
<mesh filename="package://meshes/rizon10/visual/ring.obj" scale="0.051 0.051 0.002" />
</geometry>
<material name="rizon_white" />
</visual>
<collision name="hull">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/rizon10/collision/link6.stl" />
<mesh filename="package://meshes/rizon10/collision/link6.stl" />
</geometry>
</collision>
</link>
Expand All @@ -204,24 +246,29 @@
<origin rpy="0 0 0" xyz="0.0 -0.0 0.03" />
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
</inertial>
<visual>
<visual name="shell">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/rizon10/visual/link7.obj" />
<mesh filename="package://meshes/rizon10/visual/link7.obj" />
</geometry>
<material name="rizon_dark_grey" />
</visual>
<collision>
<visual name="ring">
<origin rpy="0 0 0" xyz="0 0 -0.0025" />
<geometry>
<mesh filename="package://meshes/rizon10/visual/ring.obj" scale="0.051 0.051 0.002" />
</geometry>
<material name="rizon_white" />
</visual>
<collision name="hull">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="meshes/rizon10/collision/link7.stl" />
<mesh filename="package://meshes/rizon10/collision/link7.stl" />
</geometry>
</collision>
</link>
<link name="flange" />
<material name="rizon_blue">
<color rgba="0.0 0.0 1.0 0.5" />
</material>

<material name="rizon_light_grey">
<color rgba="0.7 0.7 0.7 1.0" />
</material>
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