Skip to content

Commit

Permalink
update fetch.urdf to help rendering
Browse files Browse the repository at this point in the history
  • Loading branch information
@yichao-liang
yichao-liang committed Jan 12, 2025
1 parent ae4ae36 commit dc404c4
Showing 1 changed file with 31 additions and 22 deletions.
53 changes: 31 additions & 22 deletions predicators/envs/assets/urdf/fetch_description/robots/fetch.urdf
View file
Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@
<geometry>
<mesh filename="../meshes/base_link.dae" />
</geometry>
<material name="">
<material name="base_link_mat">
<color rgba="0.356 0.361 0.376 1" />
</material>
</visual>
Expand Down Expand Up @@ -40,7 +40,7 @@
<geometry>
<mesh filename="../meshes/r_wheel_link.STL" />
</geometry>
<material name="">
<material name="r_wheel_link_mat">
<color rgba="0.086 0.506 0.767 1" />
</material>
</visual>
Expand Down Expand Up @@ -69,7 +69,7 @@
<geometry>
<mesh filename="../meshes/l_wheel_link.STL" />
</geometry>
<material name="">
<material name="l_wheel_link_mat">
<color rgba="0.086 0.506 0.767 1" />
</material>
</visual>
Expand Down Expand Up @@ -98,7 +98,7 @@
<geometry>
<mesh filename="../meshes/torso_lift_link.dae" />
</geometry>
<material name="">
<material name="torso_lift_link_mat">
<color rgba="1 1 1 1" />
</material>
</visual>
Expand All @@ -109,12 +109,18 @@
</geometry>
</collision>
</link>
<joint name="torso_lift_joint" type="fixed">
<!-- <joint name="torso_lift_joint" type="prismatic">
<origin rpy="-6.123E-17 0 0" xyz="-0.086875 0 0.37743" />
<parent link="base_link" />
<child link="torso_lift_link" />
<axis xyz="0 0 1" />
<limit effort="450.0" lower="0" upper="0.38615" velocity="0.1" />
<limit effort="450.0" lower="0" upper="0.38615" velocity="0.1" /> -->
<!-- Using a fixed joint for simplicity -->
<joint name="torso_lift_joint" type="fixed">
<origin rpy="-6.123E-17 0 0" xyz="-0.086875 0 0.47743" />
<parent link="base_link" />
<child link="torso_lift_link" />
<axis xyz="0 0 1" />
<dynamics damping="100.0" /></joint>
<link name="head_pan_link">
<inertial>
Expand All @@ -127,7 +133,7 @@
<geometry>
<mesh filename="../meshes/head_pan_link.dae" />
</geometry>
<material name="">
<material name="head_pan_link_mat">
<color rgba="0.356 0.361 0.376 1" />
</material>
</visual>
Expand Down Expand Up @@ -155,7 +161,7 @@
<geometry>
<mesh filename="../meshes/head_tilt_link.dae" />
</geometry>
<material name="">
<material name="head_tilt_link_mat">
<color rgba="0.086 0.506 0.767 1" />
</material>
</visual>
Expand Down Expand Up @@ -184,7 +190,7 @@
<geometry>
<mesh filename="../meshes/shoulder_pan_link.dae" />
</geometry>
<material name="">
<material name="shoulder_pan_link_mat">
<color rgba="1 1 1 1" />
</material>
</visual>
Expand Down Expand Up @@ -214,7 +220,7 @@
<geometry>
<mesh filename="../meshes/shoulder_lift_link.dae" />
</geometry>
<material name="">
<material name="shoulder_lift_link_mat">
<color rgba="0.086 0.506 0.767 1" />
</material>
</visual>
Expand Down Expand Up @@ -244,7 +250,7 @@
<geometry>
<mesh filename="../meshes/upperarm_roll_link.dae" />
</geometry>
<material name="">
<material name="upperarm_roll_link_mat">
<color rgba="1 1 1 1" />
</material>
</visual>
Expand Down Expand Up @@ -274,7 +280,7 @@
<geometry>
<mesh filename="../meshes/elbow_flex_link.dae" />
</geometry>
<material name="">
<material name="elbow_flex_link_mat">
<color rgba="0.086 0.506 0.767 1" />
</material>
</visual>
Expand Down Expand Up @@ -304,7 +310,7 @@
<geometry>
<mesh filename="../meshes/forearm_roll_link.dae" />
</geometry>
<material name="">
<material name="forearm_roll_link_mat">
<color rgba="1 1 1 1" />
</material>
</visual>
Expand Down Expand Up @@ -334,7 +340,7 @@
<geometry>
<mesh filename="../meshes/wrist_flex_link.dae" />
</geometry>
<material name="">
<material name="wrist_flex_link_mat">
<color rgba="0.086 0.506 0.767 1" />
</material>
</visual>
Expand Down Expand Up @@ -364,7 +370,7 @@
<geometry>
<mesh filename="../meshes/wrist_roll_link.dae" />
</geometry>
<material name="">
<material name="wrist_roll_link_mat">
<color rgba="1 1 1 1" />
</material>
</visual>
Expand Down Expand Up @@ -394,6 +400,9 @@
<geometry>
<mesh filename="../meshes/gripper_link.dae" />
</geometry>
<material name="gripper_link_mat">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
Expand All @@ -419,7 +428,7 @@
<geometry>
<mesh filename="../meshes/r_gripper_finger_link.STL" />
</geometry>
<material name="">
<material name="r_gripper_finger_link_mat">
<color rgba="0.356 0.361 0.376 1" />
</material>
</visual>
Expand Down Expand Up @@ -455,7 +464,7 @@
<geometry>
<mesh filename="../meshes/l_gripper_finger_link.STL" />
</geometry>
<material name="">
<material name="l_gripper_finger_link_mat">
<color rgba="0.356 0.361 0.376 1" />
</material>
</visual>
Expand Down Expand Up @@ -520,7 +529,7 @@
<geometry>
<mesh filename="../meshes/bellows_link.STL" />
</geometry>
<material name="">
<material name="bellows_link2_mat">
<color rgba="0 0 0 1" />
</material>
</visual>
Expand All @@ -547,7 +556,7 @@
<geometry>
<mesh filename="../meshes/estop_link.STL" />
</geometry>
<material name="">
<material name="estop_link_mat">
<color rgba="0.8 0 0 1" />
</material>
</visual>
Expand Down Expand Up @@ -575,8 +584,8 @@
<geometry>
<mesh filename="../meshes/laser_link.STL" />
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
<material name="laser_link_mat">
<color rgba="0.792 0.82 0.933 1" />
</material>
</visual>
<collision>
Expand All @@ -603,7 +612,7 @@
<geometry>
<mesh filename="../meshes/torso_fixed_link.dae" />
</geometry>
<material name="">
<material name="torso_fixed_link_mat">
<color rgba="0.086 0.506 0.767 1" />
</material>
</visual>
Expand Down

0 comments on commit dc404c4

Please sign in to comment.